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This paper addresses two key limitations of the unscented Kalman filter (UKF) when applied to the simultaneous localization and mapping (SLAM) problem: the cubic computational complexity in the number of states and the inconsistency of the state estimates. To address the first issue, we introduce a new sampling strategy for the UKF, which has constant computational complexity. As a result, the overall...
The problem of identifying Hammerstein-like systems containing dynamic nonlinearities, of the switch or backlash types, is considered. Interestingly, the nonlinearity borders are nonparametric borders (i.e. of unknown structure) and so are allowed to be noninvertible and cross each other. A semi-parametric identification approach is developed to estimate the linear subsystem parameters and m points...
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