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Embedded self-learning is a desired capability that can enhance autonomy in different types of unmanned systems. Autonomous diagnostics is an area of opportunity to deploy this capability, which allows for vehicle failure awareness and enables for other advantageous schemes such as fault tolerant control. In this paper, we present one subsystem of an ensemble of schemes that form the Enhanced Autonomous...
Most unmanned mobile robotic platforms contain multiple sensors that can be leveraged to measure vehicle motion states, where there often exists redundancies among the different sensor types. Kalman filter based sensor fusion between inertial navigation sensors, GPS readings, encoders, etc. is a very popular approach in the literature to improve the accuracy of navigation readings. However, such redundancies...
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