A new approach for single channel speech enhancement based on Kalman filtering and masking properties of the human auditory system is proposed in the paper. A standard time-varying Kalman filtering method is extended by combining the calculation of noise masking thresholds during the process of parameter updating. Simulation results of a traditional spectral subtraction method, an extended spec...

The paper analyzes two important issues in the design of multi-robot systems: (i) motion planning with the use of distributed algorithms, (ii) sensor fusion with the use of Extended Kalman or Particle Filtering. First, distributed gradient for motion planning of a multi-robot system is examined. The dynamic model of the multi-robot system is derived and its convergence to the desirable position...

In this paper, the filtering problem of nonlinear networked systems with event-triggered data transmission tasks is studied. To reduce excessive measurement in bandwidth-limited network, a mechanism event trigger introduced to analyze error behavior extended Kalman filter. We prove that real estimation and covariance matrices can be determined by restricting initial conditions appropriately. Fi...

w x C y a x f x , 1 ABSTRACT In this paper, we consider chaotic communication schemes using nonlinear filtering techniques. Two different previously proposed Extended Kalman Filter based chaotic schemes are revisited and implemented using the Unscented Kalman Filter. Also, a recently proposed antipodal chaotic communication scheme is implemented with both the Extended Kalman Filter and the Unsc...

In this paper, we consider chaotic communication using nonlinear filtering techniques. The main contribution of the paper is proposing a novel antipodal chaotic communication scheme, which is implemented with both the Extended Kalman Filter and the Unscented Kalman Filter. Two different previously proposed Extended Kalman Filter based chaotic schemes are also revisited and implemented using the...

Outliers can be caused by sensor errors, model uncertainties, changes in the ambient environment, data loss, or malicious cyberattacks to contaminate measurement process of many nonlinear dynamic systems. When extended Kalman filter (EKF) is applied such systems for state estimation, outliers seriously reduce estimation accuracy. This brief proposes an innovation saturation mechanism make EKF r...