Maximum Correntropy Kalman Filter
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Cooperative Circumnavigation for Multiple Unmanned Surface Vehicles Without External Localization
arXiv:2606.04518v1 Announce Type: new Abstract: This paper proposes a cooperative target circumnavigation framework for multiple unmanned surface vehicles (USVs) operating without external localization. The objective is to maintain a uniform circular formation of a specified radius around a target using only limited onboard sensing. The framework adopts a heterogeneous perception strategy that distinguishes between the asymmetric sensing relationships with the target and among the USVs.