In this paper we present an adaptive recursive nonlinear filter based on the higher order Volterra series infinite impulse response (IIR) structure. The proposed work is an extension of the work of Roy et al [9] in which they limit the Volterra recursive filter to the second order. Adaptive algorithms based on the exact and the approximate gradient will be derived. Stability issues based on the...

In this paper, based on a distributed particle filter, two tracking algorithms are proposed for tracking mobile targets in cluster-based underwater sensor networks (USNs). Both tracking algorithms run local particle filter sequentially at each cluster along target trajectories, but they adopt different methods of selecting measurements from sensor nodes to balance the information contribution a...

In this paper we describe the Combined Filter, a judicious combination of Extended Kalman (EKF) and Extended Information filters (EIF) that can be used to execute highly efficient SLAM in large environments. With the CF, filter updates can be executed in as low as O(logn) as compared with other EKF and EIF based algorithms: O(n2) for Map Joining SLAM, O(n) for Divide and Conquer (D&C) SLAM, and...

This paper presents the maiden application of a variant of Kalman Filter algorithm known as Local Ensemble Transform based Kalman Filter (LET-KF) for power system harmonic estimation. The proposed algorithm is applied for estimating the harmonic parameters of a power signal containing harmonics, sub-harmonics, inter-harmonics in presence of white Gaussian noise. These algorithms are applied and...

this paper extends the sequential learning algorithm strategy of two different types of adaptive radial basis function-based (rbf) neural networks, i.e. growing and pruning radial basis function (gap-rbf) and minimal resource allocation network (mran) to cater for on-line identification of non-linear systems. the original sequential learning algorithm is based on the repetitive utilization of s...

In Exponentially-Modulated Filter Bank (EMFB) the complex subfilters are generated from a real-valued prototype filter by multiplying the filter impulse response with complex exponential sequences. This gives the possibility to use block transforms with computationally fast algorithms. Our definition for the EMFB is based on Extended Lapped Transform (ELT). Then we may apply Fast ELT based algo...

The studies in aerial vehicles modeling and control have been increased rapidly recently. In this paper , a coordination of two types of heterogeneous robots , namely unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) is considered. In this paper the UAV plays the role of a virtual leader for the UGVs. The system consists of a vision- based target detection algorithm that uses the ...