Dimensionless Model-Based System Tracking Via Augmented Kalman Filter for Multiscale Unmanned Ground Vehicles
Why this work is in the frame
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Bibliographic record
Abstract
In recent years, many unmanned vehicle designs and autonomous driving functions have been introduced in the automotive industry to increase the safety and versatility of multiple vehicle designs. It is critical to select a plant vehicle model and a compact uncertainty representation regardless of the vehicle scale for vast deployment. This article introduces a dimensionless representation of a dynamic vehicle model that is suitable for generalized dynamic analysis. Demonstrations included in this article showed that the compact uncertainty bounds of the dimensionless parameters could be used to generate an adaptive observer suitable for full-sized and corresponding scaled vehicles. The proposed dimensionless model-based observer can assess motion states, mass, center of gravity displacement, and the tire stiffness online with common onboard inertial measurement unit (IMU). The effectiveness and sensitivity of the proposed technique are highlighted through simulations and experiments on scaled test vehicles.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it