Scott Jason Moura

Mitigating overconfidence in nonlinear Kalman filters via covariance recalibration

The Kalman filter (KF) is an optimal linear state estimator for linear systems, and numerous extensions, including the extended Kalman filter (EKF), unscented Kalman filter (UKF), and cubature Kalman filter (CKF), have been developed for nonlinear systems. Although these nonlinea...

Parking of connected automated vehicles: vehicle control, parking assignment, and multi-agent simulation

This paper introduces a comprehensive approach to optimize parking efficiency for connected and Automated vehicle (CAVs) fleets. We present a multi-vehicle parking simulator, equipped with hierarchical path planning and collision avoidance capabilities for individual CAVs. The si...