#+TITLE: Robust and Optimal Sensor Fusion
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#+DATE: {{{time(%Y-%m-%d)}}}

#+AUTHOR: @@latex:\IEEEauthorblockN{Dehaeze Thomas}@@
#+AUTHOR: @@latex:\IEEEauthorblockA{\textit{European Synchrotron Radiation Facility} \\@@
#+AUTHOR: @@latex:Grenoble, France\\@@
#+AUTHOR: @@latex:\textit{Precision Mechatronics Laboratory} \\@@
#+AUTHOR: @@latex:\textit{University of Liege}, Belgium \\@@
#+AUTHOR: @@latex:thomas.dehaeze@esrf.fr@@
#+AUTHOR: @@latex:}\and@@
#+AUTHOR: @@latex:\IEEEauthorblockN{Collette Christophe}@@
#+AUTHOR: @@latex:\IEEEauthorblockA{\textit{BEAMS Department}\\@@
#+AUTHOR: @@latex:\textit{Free University of Brussels}, Belgium\\@@
#+AUTHOR: @@latex:\textit{Precision Mechatronics Laboratory} \\@@
#+AUTHOR: @@latex:\textit{University of Liege}, Belgium \\@@
#+AUTHOR: @@latex:ccollett@ulb.ac.be@@
#+AUTHOR: @@latex:}@@

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* LaTeX Config                                                     :noexport:
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* Abstract                                                           :ignore:
#+begin_abstract
  Abstract text to be done
#+end_abstract

* Keywords                                                            :ignore:
#+begin_IEEEkeywords
  Complementary Filters, Sensor Fusion, H-Infinity Synthesis
#+end_IEEEkeywords

* Introduction
<<sec:introduction>>

* Optimal Super Sensor Noise: $\mathcal{H}_2$ Synthesis
<<sec:optimal_fusion>>

** Sensor Fusion Architecture

#+name: fig:sensor_fusion_noise_arch
#+caption: Figure caption
#+attr_latex: :scale 1
[[file:figs/sensor_fusion_noise_arch.pdf]]

** Super Sensor Noise

** $\mathcal{H}_2$ Synthesis of Complementary Filters

#+name: fig:h_two_optimal_fusion
#+caption: Figure caption
#+attr_latex: :scale 1
[[file:figs/h_two_optimal_fusion.pdf]]

** Example

** Robustness Problem

* Robust Sensor Fusion: $\mathcal{H}_\infty$ Synthesis
<<sec:robust_fusion>>

** Representation of Sensor Dynamical Uncertainty

#+name: fig:sensor_fusion_arch_uncertainty
#+caption: Figure caption
#+attr_latex: :scale 1
[[file:figs/sensor_fusion_arch_uncertainty.pdf]]

** Super Sensor Dynamical Uncertainty

#+name: fig:uncertainty_set_super_sensor
#+caption: Figure caption
#+attr_latex: :scale 1
[[file:figs/uncertainty_set_super_sensor.pdf]]

** $\mathcal{H_\infty}$ Synthesis of Complementary Filters

#+name: fig:h_infinity_robust_fusion
#+caption: Figure caption
#+attr_latex: :scale 1
[[file:figs/h_infinity_robust_fusion.pdf]]

** Example

* Optimal and Robust Sensor Fusion: Mixed $\mathcal{H}_2/\mathcal{H}_\infty$ Synthesis
<<sec:optimal_robust_fusion>>

** Sensor Fusion Architecture

#+name: fig:sensor_fusion_arch_full
#+caption: Figure caption
#+attr_latex: :scale 1
[[file:figs/sensor_fusion_arch_full.pdf]]

** Synthesis Objective

** Mixed $\mathcal{H}_2/\mathcal{H}_\infty$ Synthesis

#+name: fig:mixed_h2_hinf_synthesis
#+caption: Figure caption
#+attr_latex: :scale 1
[[file:figs/mixed_h2_hinf_synthesis.pdf]]

** Example

* Experimental Validation
<<sec:experimental_validation>>

** Experimental Setup

** Sensor Noise and Dynamical Uncertainty

** Mixed $\mathcal{H}_2/\mathcal{H}_\infty$ Synthesis

** Super Sensor Noise and Dynamical Uncertainty

* Conclusion
<<sec:conclusion>>

* Acknowledgment

* Bibliography                                                       :ignore:
\bibliography{ref}