3 papers
cs.LG2025
Eigenvalues as a Metric for Memory Dynamics in Sequence Models
Rahel Rickenbach, Jelena Trisovic, Alexandre Didier +2
While softmax attention drives state-of-the-art performance in sequence modeling, its quadratic complexity motivates linear alternatives such as state space models (SSMs). Structur…
eess.SY2025
Predictive Control for Driving under Uncertain Road Geometry Estimated from Onboard Vision
Jelena Trisovic, Andrea Carron, Melanie N. Zeilinger
Autonomous vehicles driving on unknown roads must estimate the road geometry from onboard sensors and follow the resulting reference while respecting road boundaries. When the perc…
eess.SY2024
Moving Horizon Estimation for Simultaneous Localization and Mapping with Robust Estimation Error Bounds
Jelena Trisovic, Alexandre Didier, Simon Muntwiler +1
This paper presents a robust moving horizon estimation (MHE) approach with provable estimation error bounds for solving the simultaneous localization and mapping (SLAM) problem. We…