Fast and Noise-Resilient Magnetic Field Mapping on a Low-Cost UAV Using Gaussian Process Regression.

This study presents a comprehensive approach to mapping local magnetic field anomalies with robustness to magnetic noise from an unmanned aerial vehicle (UAV). The UAV collects magnetic field measurements, which are used to generate a local magnetic field map through Gaussian process regression (GPR). The research identifies two categories of magnetic noise originating from the UAV's electronics, adversely affecting map precision.

Automated Curb Recognition and Negotiation for Robotic Wheelchairs.

Common electric powered wheelchairs cannot safely negotiate architectural barriers (i.e., curbs) which could injure the user and damage the wheelchair.

Improving Attitude Estimation Using Gaussian-Process-Regression-Based Magnetic Field Maps.

Magnetometers measure the local magnetic field and are present in most modern inertial measurement units (IMUs). Readings from magnetometers are used to identify Earth's Magnetic North outdoors, but are often ignored during indoor experiments since the magnetic field does not behave how most expect. This paper presents methods to create, validate, and visualize three-dimensional magnetic field maps to expand the use of magnetic fields as a sensing modality for navigation.

Road Disturbance Estimation and Cloud-Aided Comfort-Based Route Planning.

This paper investigates a comfort-based route planner that considers both travel time and ride comfort. We first present a framework of simultaneous road profile estimation and anomaly detection with commonly available vehicle sensors. A jump-diffusion process-based state estimator is developed and used along with a multi-input observer for road profile estimation.

Optimization and Control of Cyber-Physical Vehicle Systems.

A cyber-physical system (CPS) is composed of tightly-integrated computation, communication and physical elements. Medical devices, buildings, mobile devices, robots, transportation and energy systems can benefit from CPS co-design and optimization techniques. Cyber-physical vehicle systems (CPVSs) are rapidly advancing due to progress in real-time computing, control and artificial intelligence.