diff --git a/tikz/figs/sensor_model.png b/tikz/figs/sensor_model.png
deleted file mode 100644
index 693c6c2..0000000
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diff --git a/tikz/figs/sensor_model.pdf b/tikz/figs/sensor_model_noise.pdf
similarity index 98%
rename from tikz/figs/sensor_model.pdf
rename to tikz/figs/sensor_model_noise.pdf
index e5c312b..a0d3adb 100644
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diff --git a/tikz/figs/sensor_model_noise.png b/tikz/figs/sensor_model_noise.png
new file mode 100644
index 0000000..567d7e9
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diff --git a/tikz/figs/sensor_model.svg b/tikz/figs/sensor_model_noise.svg
similarity index 96%
rename from tikz/figs/sensor_model.svg
rename to tikz/figs/sensor_model_noise.svg
index 4b3a191..92ae0bc 100644
--- a/tikz/figs/sensor_model.svg
+++ b/tikz/figs/sensor_model_noise.svg
@@ -79,15 +79,18 @@
-
+
-
+
-
+
+
+
+
@@ -142,14 +145,18 @@
-
+
+
+
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+
-
+
@@ -173,7 +180,7 @@
-
+
@@ -184,7 +191,7 @@
-
+
diff --git a/tikz/figs/sensor_model_noise_uncertainty.pdf b/tikz/figs/sensor_model_noise_uncertainty.pdf
new file mode 100644
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diff --git a/tikz/figs/sensor_model_noise_uncertainty.png b/tikz/figs/sensor_model_noise_uncertainty.png
new file mode 100644
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diff --git a/tikz/figs/sensor_model_noise_uncertainty.svg b/tikz/figs/sensor_model_noise_uncertainty.svg
new file mode 100644
index 0000000..539adc9
--- /dev/null
+++ b/tikz/figs/sensor_model_noise_uncertainty.svg
@@ -0,0 +1,249 @@
+
+
diff --git a/tikz/figs/sensor_model_uncertainty.pdf b/tikz/figs/sensor_model_uncertainty.pdf
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diff --git a/tikz/figs/sensor_model_uncertainty.svg b/tikz/figs/sensor_model_uncertainty.svg
new file mode 100644
index 0000000..01a0272
--- /dev/null
+++ b/tikz/figs/sensor_model_uncertainty.svg
@@ -0,0 +1,191 @@
+
+
diff --git a/tikz/index.org b/tikz/index.org
index 9bad095..f03b6cb 100644
--- a/tikz/index.org
+++ b/tikz/index.org
@@ -26,15 +26,15 @@
Configuration file is accessible [[file:config.org][here]].
-* Sensor Model
-#+begin_src latex :file sensor_model.pdf
+* Sensor Model - Noise
+#+begin_src latex :file sensor_model_noise.pdf
\begin{tikzpicture}
\node[addb](add1){};
\node[block, right=0.5 of add1](G1){$G_i$};
\node[block, right=0.8 of G1](Ginv1){$\hat{G}_i^{-1}$};
\node[block, above=0.5 of add1](N1){$N_i$};
- \draw[] (add1.west) -- ++(-1.0, 0) node[above right]{$x$};
+ \draw[<-] (add1.west) -- ++(-1.0, 0) node[above right]{$x$};
\draw[->] (add1.east) -- (G1.west);
\draw[->] (N1.south) -- (add1.north)node[above left]{$n_i$};
\draw[<-] (N1.north)node[above left](n1){$\tilde{n}_i$} -- ++(0, 0.4);
@@ -48,10 +48,10 @@ Configuration file is accessible [[file:config.org][here]].
\end{tikzpicture}
#+end_src
-#+name: fig:sensor_model
-#+caption: Sensor Model ([[./figs/sensor_model.png][png]], [[./figs/sensor_model.pdf][pdf]]).
+#+name: fig:sensor_model_noise
+#+caption: Sensor Model ([[./figs/sensor_model_noise.png][png]], [[./figs/sensor_model_noise.pdf][pdf]]).
#+RESULTS:
-[[file:figs/sensor_model.png]]
+[[file:figs/sensor_model_noise.png]]
* Sensor Fusion Architecture
#+begin_src latex :file sensor_fusion_noise_arch.pdf
@@ -138,6 +138,36 @@ Configuration file is accessible [[file:config.org][here]].
#+RESULTS:
[[file:figs/h_two_optimal_fusion.png]]
+* Sensor Model - Uncertainty
+#+begin_src latex :file sensor_model_uncertainty.pdf
+ \begin{tikzpicture}
+ \node[branch](b1){};
+ \node[block, above right=0.3 and 0.25 of b1](W1){$W_i$};
+ \node[block, right=0.3 of W1](delta1){$\Delta_i$};
+ \node[addb, right=0.3 of b1-|delta1](add1){};
+ \node[block, right=0.3 of add1](G1){$\hat{G}_i$};
+ \node[block, right=0.7 of G1](Ginv1){$\hat{G}_i^{-1}$};
+
+ \draw[->] ($(g1)+(-0.6,0)$) node[above right]{$x$} -- (add1.west);
+ \draw[->] (g1) |- (W1.west);
+ \draw[->] (W1.east) -- (delta1.west);
+ \draw[->] (delta1.east) -| (add1.north);
+ \draw[->] (add1.east) -- (G1.west);
+ \draw[->] (G1.east) -- (Ginv1.west)node[above left]{$v_i$};
+ \draw[->] (Ginv1.east) -- ++(0.7, 0) node[above left]{$\hat{x}_i$};
+
+ \begin{scope}[on background layer]
+ \node[block, fit={($(b1|-W1.north) + (-0.15, 0.15)$) ($(G1.south east)+(0.15, -0.15)$)}, fill=black!20!white, dashed, inner sep=0pt] (sensor1) {};
+ \node[below left] at (sensor1.north east) {Sensor};
+ \end{scope}
+ \end{tikzpicture}
+#+end_src
+
+#+name: fig:sensor_model_uncertainty
+#+caption: Sensor Model including dynamical uncertainty ([[./figs/sensor_model_uncertainty.png][png]], [[./figs/sensor_model_uncertainty.pdf][pdf]]).
+#+RESULTS:
+[[file:figs/sensor_model_uncertainty.png]]
+
* Sensor fusion architecture with sensor dynamics uncertainty
#+begin_src latex :file sensor_fusion_arch_uncertainty.pdf
\begin{tikzpicture}
@@ -269,6 +299,43 @@ Configuration file is accessible [[file:config.org][here]].
#+RESULTS:
[[file:figs/h_infinity_robust_fusion.png]]
+* Sensor Model - Noise and Uncertainty
+#+begin_src latex :file sensor_model_noise_uncertainty.pdf
+ \begin{tikzpicture}
+ \node[addb](add1){};
+
+ \node[block, above=0.5 of add1](N1){$N_i$};
+ \node[branch, right=0.4 of add1](b1){};
+ \node[block, above right=0.3 and 0.25 of b1](W1){$W_i$};
+ \node[block, right=0.3 of W1](delta1){$\Delta_i$};
+ \node[addb, right=0.3 of b1-|delta1](addu){};
+ \node[block, right=0.3 of addu](G1){$\hat{G}_i$};
+ \node[block, right=0.7 of G1](Ginv1){$\hat{G}_i^{-1}$};
+
+ \draw[<-] (add1.west) -- ++(-1.0, 0) node[above right]{$x$};
+ \draw[->] (add1.east) -- (addu.west);
+ \draw[->] (b1) |- (W1.west);
+ \draw[->] (W1.east) -- (delta1.west);
+ \draw[->] (delta1.east) -| (addu.north);
+ \draw[->] (addu.east) -- (G1.west);
+
+ \draw[->] (N1.south) -- (add1.north)node[above left]{$n_i$};
+ \draw[<-] (N1.north)node[above left](n1){$\tilde{n}_i$} -- ++(0, 0.4);
+ \draw[->] (G1.east) -- (Ginv1.west)node[above left]{$v_i$};
+ \draw[->] (Ginv1.east) -- ++(0.7, 0) node[above left]{$\hat{x}_i$};
+
+ \begin{scope}[on background layer]
+ \node[fit={($(G1.south east)+(0.15, -0.15)$) ($(n1.north west)$)}, fill=black!20!white, draw, dashed, inner sep=0pt] (sensor1) {};
+ \node[below left, align=right] at (sensor1.north east) {Sensor};
+ \end{scope}
+ \end{tikzpicture}
+#+end_src
+
+#+name: fig:sensor_model_noise_uncertainty
+#+caption: Sensor Model ([[./figs/sensor_model_noise_uncertainty.png][png]], [[./figs/sensor_model_noise_uncertainty.pdf][pdf]]).
+#+RESULTS:
+[[file:figs/sensor_model_noise_uncertainty.png]]
+
* Sensor fusion architecture with sensor dynamics uncertainty and noise
#+begin_src latex :file sensor_fusion_arch_full.pdf
\begin{tikzpicture}