{"id":"https://openalex.org/W7133314527","doi":"https://doi.org/10.48550/arxiv.2603.01997","title":"Event-Only Drone Trajectory Forecasting with RPM-Modulated Kalman Filtering","display_name":"Event-Only Drone Trajectory Forecasting with RPM-Modulated Kalman Filtering","publication_year":2026,"publication_date":"2026-03-02","ids":{"openalex":"https://openalex.org/W7133314527","doi":"https://doi.org/10.48550/arxiv.2603.01997"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.01997","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.01997","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.01997","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128017390","display_name":"Hari Prasanth S. M.","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"M., Hari Prasanth S.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127903850","display_name":"Pejman Habibiroudkenar","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Habibiroudkenar, Pejman","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023874429","display_name":"Eerik Alamikkotervo","orcid":"https://orcid.org/0000-0001-5104-2911"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alamikkotervo, Eerik","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127913501","display_name":"Dimitrios Bouzoulas","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bouzoulas, Dimitrios","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5061093557","display_name":"Risto Ojala","orcid":"https://orcid.org/0000-0003-0865-1775"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ojala, Risto","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.384799987077713,"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"}},"topics":[{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.384799987077713,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.23899999260902405,"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/T11489","display_name":"Air Traffic Management and Optimization","score":0.027300000190734863,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.6938999891281128},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.684499979019165},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.671999990940094},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.5120000243186951},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.3725999891757965},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.2824000120162964}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.6938999891281128},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.684499979019165},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.671999990940094},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6237999796867371},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5992000102996826},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5821999907493591},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.5120000243186951},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.3725999891757965},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.2824000120162964},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.2612999975681305},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2583000063896179},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.25040000677108765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.01997","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.01997","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.01997","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.01997","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Event":[0],"cameras":[1],"provide":[2],"high-temporal-resolution":[3],"visual":[4],"sensing":[5],"that":[6,32,61],"is":[7],"well":[8],"suited":[9],"for":[10,18],"observing":[11],"fast-moving":[12],"aerial":[13],"objects;":[14],"however,":[15],"their":[16],"use":[17],"drone":[19,29],"trajectory":[20,97],"prediction":[21],"remains":[22],"limited.":[23],"This":[24],"work":[25],"introduces":[26],"an":[27,50],"event-only":[28],"forecasting":[30,86,98],"method":[31,64],"exploits":[33],"propeller-induced":[34],"motion":[35],"cues.":[36],"Propeller":[37],"rotational":[38],"speed":[39],"are":[40],"extracted":[41],"directly":[42],"from":[43],"raw":[44],"event":[45],"data":[46],"and":[47,68,78,84,92,95],"fused":[48],"within":[49],"RPM-aware":[51],"Kalman":[52],"filtering":[53],"framework.":[54],"Evaluations":[55],"on":[56,101],"the":[57,62],"FRED":[58],"dataset":[59],"show":[60],"proposed":[63],"outperforms":[65],"learning-based":[66],"approaches":[67],"vanilla":[69],"kalman":[70],"filter":[71],"in":[72],"terms":[73],"of":[74],"average":[75],"distance":[76,80],"error":[77,81],"final":[79],"at":[82],"0.4s":[83],"0.8s":[85],"horizons.":[87],"The":[88],"results":[89],"demonstrate":[90],"robust":[91],"accurate":[93],"short-":[94],"medium-horizon":[96],"without":[99],"reliance":[100],"RGB":[102],"imagery":[103],"or":[104],"training":[105],"data.":[106]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-04T00:00:00"}
