{"id":"https://openalex.org/W4298103169","doi":"https://doi.org/10.1109/cdc51059.2022.9993410","title":"A Dynamic Grid-based Q-learning for Noise Covariance Adaptation in EKF and its Application in Navigation","display_name":"A Dynamic Grid-based Q-learning for Noise Covariance Adaptation in EKF and its Application in Navigation","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4298103169","doi":"https://doi.org/10.1109/cdc51059.2022.9993410"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9993410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9993410","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-03781984","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050505840","display_name":"Xiang Dai","orcid":"https://orcid.org/0000-0002-1019-4238"},"institutions":[{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"id":"https://openalex.org/I4210124956","display_name":"GIPSA-Lab","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Xiang Dai","raw_affiliation_strings":["Inria, CNRS, Univ. Grenoble Alpes, Grenoble INP,GIPSA-Lab,Grenoble,France,38400","Dynamics and Control of Networks"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inria, CNRS, Univ. Grenoble Alpes, Grenoble INP,GIPSA-Lab,Grenoble,France,38400","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I4210124956","https://openalex.org/I4210101348","https://openalex.org/I899635006","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Dynamics and Control of Networks","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008384064","display_name":"Hassen Fourati","orcid":"https://orcid.org/0000-0002-8398-7183"},"institutions":[{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"id":"https://openalex.org/I4210124956","display_name":"GIPSA-Lab","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Hassen Fourati","raw_affiliation_strings":["Inria, CNRS, Univ. Grenoble Alpes, Grenoble INP,GIPSA-Lab,Grenoble,France,38400","Dynamics and Control of Networks"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inria, CNRS, Univ. Grenoble Alpes, Grenoble INP,GIPSA-Lab,Grenoble,France,38400","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I4210124956","https://openalex.org/I4210101348","https://openalex.org/I899635006","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Dynamics and Control of Networks","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083387069","display_name":"Christophe Prieur","orcid":"https://orcid.org/0000-0002-4456-2019"},"institutions":[{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210124956","display_name":"GIPSA-Lab","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christophe Prieur","raw_affiliation_strings":["CNRS, Univ. Grenoble Alpes, Grenoble INP,GIPSA-Lab,Grenoble,France,38400"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, Univ. Grenoble Alpes, Grenoble INP,GIPSA-Lab,Grenoble,France,38400","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5191,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.63885502,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4984","last_page":"4989"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7890573740005493},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6823285818099976},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.6721543073654175},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5746038556098938},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.5470420718193054},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.49085670709609985},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4739779829978943},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.43890613317489624},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4364243149757385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3507649004459381},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1681673228740692}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7890573740005493},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6823285818099976},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.6721543073654175},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5746038556098938},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.5470420718193054},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.49085670709609985},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4739779829978943},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.43890613317489624},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4364243149757385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3507649004459381},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1681673228740692},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc51059.2022.9993410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9993410","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03781984v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03781984","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://cdc2022.ieeecss.org/","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03781984v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03781984","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://cdc2022.ieeecss.org/","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W32403112","https://openalex.org/W1527786550","https://openalex.org/W1620042822","https://openalex.org/W1628100432","https://openalex.org/W2044533293","https://openalex.org/W2132240870","https://openalex.org/W2396274919","https://openalex.org/W2612353123","https://openalex.org/W2975461012","https://openalex.org/W3011954177","https://openalex.org/W3174877089","https://openalex.org/W3204789572","https://openalex.org/W4214717370","https://openalex.org/W4281743056","https://openalex.org/W6605931547","https://openalex.org/W6630225054","https://openalex.org/W6681158678","https://openalex.org/W6775686901"],"related_works":["https://openalex.org/W2280422768","https://openalex.org/W3143197806","https://openalex.org/W4252555497","https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W1573859018","https://openalex.org/W2900391131","https://openalex.org/W1657752397","https://openalex.org/W3185162478","https://openalex.org/W1633787648"],"abstract_inverted_index":{"The":[0,118,137,165],"process":[1],"and":[2,15,52,74,113,121,129,146,156,177],"measurement":[3],"noise":[4,42,134],"covariance":[5,43,75,135],"matrices":[6,44,76],"significantly":[7],"impact":[8],"the":[9,41,46,65,84,88,152,175],"Extended":[10],"Kalman":[11],"Filter":[12],"(EKF)":[13],"performance":[14,86],"are":[16,61,90],"often":[17],"hand-tuned":[18],"in":[19,31,54,63,142],"practice,":[20],"which":[21,81,105],"usually":[22],"entails":[23],"a":[24,28,95,114],"tedious":[25],"task.":[26],"Q-learning,":[27],"well-known":[29],"method":[30,155],"reinforcement":[32],"learning,":[33],"has":[34],"been":[35],"applied":[36,141],"recently":[37],"to":[38,49,101,168],"better":[39],"adapt":[40],"for":[45,144],"EKF,":[47],"thanks":[48],"its":[50],"simplicity":[51],"capability":[53],"handling":[55],"uncertain":[56],"environments.":[57],"Typically,":[58],"some":[59],"heuristics":[60,89],"involved":[62],"designing":[64],"Q-learning-based":[66],"EKF":[67,99],"(QLEKF),":[68],"such":[69],"as":[70],"tuning":[71],"grid":[72,116],"size":[73],"values":[77,132],"of":[78,133,139],"each":[79],"state,":[80],"inevitably":[82],"degrades":[83],"estimation":[85,173],"when":[87],"not":[91],"suitable.":[92],"We":[93],"propose":[94],"dynamic":[96,115],"grid-based":[97],"Q-learning":[98],"(DG-QLEKF)":[100],"overcome":[102],"that":[103],"drawback,":[104],"brings":[106],"two":[107],"novelties,":[108],"an":[109,161],"updated":[110],"\u03f5-greedy":[111],"algorithm":[112,120],"strategy.":[117],"proposed":[119],"strategy":[122],"can":[123],"thoroughly":[124],"exploit":[125],"arbitrary":[126],"search":[127],"scope":[128],"find":[130],"appropriate":[131],"matrices.":[136],"effectiveness":[138],"DGQLEKF,":[140],"navigation":[143],"attitude":[145],"bias":[147],"estimation,":[148],"is":[149],"validated":[150],"through":[151],"Monte":[153],"Carlo":[154],"real":[157],"flight":[158],"data":[159],"from":[160],"unmanned":[162],"aerial":[163],"vehicle.":[164],"DG-QLEKF":[166],"leads":[167],"much":[169],"more":[170],"improved":[171],"state":[172],"than":[174],"QLEKF":[176],"traditional":[178],"EKF.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}