Trust-Region Neural Moving Horizon Estimation for Robots
Bingheng Wang,Xuyang Chen,Lin Zhao,Bingheng Wang,Xuyang Chen,Lin Zhao
Accurate disturbance estimation is essential for safe robot operations. The recently proposed neural moving horizon estimation (NeuroMHE), which uses a portable neural network to model the MHE’s weightings, has shown promise in further pushing the accuracy and efficiency boundary. Currently, NeuroMHE is trained through gradient descent, with its gradient computed recursively using a Kalman filter....
