{"id":"https://openalex.org/W4390659094","doi":"https://doi.org/10.1109/taes.2024.3350587","title":"Kalman Filter Auto-Tuning With Consistent and Robust Bayesian Optimization","display_name":"Kalman Filter Auto-Tuning With Consistent and Robust Bayesian Optimization","publication_year":2024,"publication_date":"2024-01-08","ids":{"openalex":"https://openalex.org/W4390659094","doi":"https://doi.org/10.1109/taes.2024.3350587"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2024.3350587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2024.3350587","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102774805","display_name":"Zhaozhong Chen","orcid":"https://orcid.org/0000-0001-6545-9443"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zhaozhong Chen","raw_affiliation_strings":["Department of Computer Science, University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0001-6545-9443","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031951235","display_name":"Harel Biggie","orcid":"https://orcid.org/0000-0002-6281-1218"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Harel Biggie","raw_affiliation_strings":["Department of Computer Science, University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0002-6281-1218","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100664008","display_name":"Nisar Ahmed","orcid":"https://orcid.org/0000-0002-7555-5671"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nisar Ahmed","raw_affiliation_strings":["Department of Computer Science, University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0002-7555-5671","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049634973","display_name":"Simon Julier","orcid":"https://orcid.org/0000-0003-4380-137X"},"institutions":[{"id":"https://openalex.org/I4210144746","display_name":"The London College","ror":"https://ror.org/0546ajs61","country_code":"GB","type":"education","lineage":["https://openalex.org/I4210144746"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Simon Julier","raw_affiliation_strings":["Department of Computer Science, University of College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-4380-137X","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of College London, London, U.K","institution_ids":["https://openalex.org/I45129253","https://openalex.org/I4210144746"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009328815","display_name":"Christoffer Heckman","orcid":"https://orcid.org/0000-0002-9651-6866"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christoffer Heckman","raw_affiliation_strings":["Department of Smead Aerospace Engineering Sciences, University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0002-9651-6866","affiliations":[{"raw_affiliation_string":"Department of Smead Aerospace Engineering Sciences, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102774805"],"corresponding_institution_ids":["https://openalex.org/I188538660"],"apc_list":null,"apc_paid":null,"fwci":6.24,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.96771272,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"60","issue":"2","first_page":"2236","last_page":"2250"},"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":0.9993000030517578,"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":0.9993000030517578,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9929999709129333,"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/T12879","display_name":"Distributed Sensor Networks and Detection Algorithms","score":0.9865000247955322,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6725138425827026},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5987995862960815},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5955678820610046},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.49637371301651},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.48249006271362305},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.477115660905838},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.45942142605781555},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4322967231273651},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.42697060108184814},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41125842928886414},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39856967329978943},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36737313866615295},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1996224820613861},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15381574630737305}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6725138425827026},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5987995862960815},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5955678820610046},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.49637371301651},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.48249006271362305},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.477115660905838},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.45942142605781555},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4322967231273651},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.42697060108184814},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41125842928886414},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39856967329978943},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36737313866615295},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1996224820613861},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15381574630737305},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2024.3350587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2024.3350587","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G2147346937","display_name":null,"funder_award_id":"1830686","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G3101884939","display_name":null,"funder_award_id":"1764092","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W83533993","https://openalex.org/W650923498","https://openalex.org/W1520021214","https://openalex.org/W1531532259","https://openalex.org/W1546736583","https://openalex.org/W1567012231","https://openalex.org/W1749494163","https://openalex.org/W1972637587","https://openalex.org/W2000091716","https://openalex.org/W2007692097","https://openalex.org/W2049475976","https://openalex.org/W2049539602","https://openalex.org/W2066523316","https://openalex.org/W2083402998","https://openalex.org/W2099201756","https://openalex.org/W2102261079","https://openalex.org/W2105934661","https://openalex.org/W2110989237","https://openalex.org/W2114309107","https://openalex.org/W2136213019","https://openalex.org/W2141057768","https://openalex.org/W2167273848","https://openalex.org/W2226014904","https://openalex.org/W2327196125","https://openalex.org/W2528234406","https://openalex.org/W2594639291","https://openalex.org/W2612922558","https://openalex.org/W2781685589","https://openalex.org/W2790374560","https://openalex.org/W2806452139","https://openalex.org/W2950521913","https://openalex.org/W2962771180","https://openalex.org/W2988029797","https://openalex.org/W2995890675","https://openalex.org/W3002423344","https://openalex.org/W3046091798","https://openalex.org/W3106144028","https://openalex.org/W3194412638","https://openalex.org/W4211127940","https://openalex.org/W4239782249","https://openalex.org/W4245274258","https://openalex.org/W6634150524","https://openalex.org/W6675200109","https://openalex.org/W6678042943","https://openalex.org/W6678911119","https://openalex.org/W6680633967","https://openalex.org/W6719982585","https://openalex.org/W6728180446","https://openalex.org/W6764116137","https://openalex.org/W6771830055"],"related_works":["https://openalex.org/W2006251942","https://openalex.org/W2364741597","https://openalex.org/W1492103595","https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W2900391131","https://openalex.org/W1657752397","https://openalex.org/W3185162478","https://openalex.org/W1633787648","https://openalex.org/W2370409284"],"abstract_inverted_index":{"The":[0,201],"nonlinear":[1],"and":[2,10,39,69,109,204],"stochastic":[3],"relationship":[4],"between":[5],"noise":[6,36,84,107],"covariance":[7],"parameter":[8,37,85,113],"values":[9],"state":[11,41,198,213],"estimator":[12,139,168,193],"performance":[13,194],"makes":[14],"optimal":[15,105],"filter":[16,80,106],"tuning":[17,24],"a":[18,185],"very":[19],"challenging":[20],"problem.":[21],"Popular":[22],"optimization-based":[23],"approaches":[25],"can":[26],"easily":[27],"get":[28],"trapped":[29],"in":[30,89,115],"local":[31],"minima,":[32],"leading":[33],"to":[34,58,74,104,112,135,190],"poor":[35],"identification":[38],"suboptimal":[40],"estimation.":[42],"Recently,":[43],"black":[44],"box":[45],"techniques":[46],"based":[47],"on":[48,211],"Bayesian":[49,188],"optimization":[50,189],"with":[51,95,184],"Gaussian":[52],"processes":[53,187],"(GPBO)":[54],"have":[55],"been":[56,141],"shown":[57,146],"overcome":[59],"many":[60,90],"of":[61,164,206],"these":[62,96,122],"issues,":[63],"using":[64],"normalized":[65,70],"estimation":[66,214],"error":[67,72],"squared":[68],"innovation":[71],"statistics":[73],"derive":[75],"cost":[76,98,131],"functions":[77,99,132],"for":[78,153,195],"Kalman":[79],"auto-tuning.":[81],"While":[82],"reliable":[83],"estimates":[86],"are":[87,133,151,209],"obtained":[88,94],"cases,":[91],"GPBO":[92],"solutions":[93],"conventional":[97],"do":[100,158],"not":[101,159],"always":[102],"converge":[103],"parameters":[108],"lack":[110],"robustness":[111],"ambiguities":[114],"time-discretized":[116],"system":[117],"models.":[118,200],"This":[119],"article":[120],"addresses":[121],"issues":[123],"by":[124],"making":[125],"two":[126],"main":[127],"contributions.":[128],"First,":[129],"new":[130,174],"developed":[134],"determine":[136],"if":[137],"an":[138],"has":[140],"tuned":[142],"correctly.":[143],"It":[144],"is":[145,169,182],"that":[147],"traditional":[148],"chi-square":[149],"tests":[150],"inadequate":[152],"correct":[154],"auto-tuning":[155],"because":[156],"they":[157],"accurately":[160],"model":[161],"the":[162,167,173],"distribution":[163],"innovations":[165],"when":[166],"incorrectly":[170],"tuned.":[171],"Second,":[172],"metrics":[175],"(formulated":[176],"over":[177],"multiple":[178],"time":[179,196],"discretization":[180],"intervals)":[181],"combined":[183],"student-t":[186],"achieve":[191],"robust":[192],"discretized":[197],"space":[199],"robustness,":[202],"accuracy,":[203],"reliability":[205],"our":[207],"approach":[208],"illustrated":[210],"classical":[212],"problems.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-29T09:21:14.243279","created_date":"2025-10-10T00:00:00"}
