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\author{\IEEEauthorblockN{Dehaeze Thomas} \IEEEauthorblockA{\textit{European Synchrotron Radiation Facility} \\ Grenoble, France\\ \textit{Precision Mechatronics Laboratory} \\ \textit{University of Liege}, Belgium \\ thomas.dehaeze@esrf.fr }\and \IEEEauthorblockN{Collette Christophe} \IEEEauthorblockA{\textit{BEAMS Department}\\ \textit{Free University of Brussels}, Belgium\\ \textit{Precision Mechatronics Laboratory} \\ \textit{University of Liege}, Belgium \\ ccollett@ulb.ac.be }}
\date{2020-08-17}
\title{Robust and Optimal Sensor Fusion}
\begin{document}

\maketitle

\begin{abstract}
Abstract text to be done
\end{abstract}

\begin{IEEEkeywords}
Complementary Filters, Sensor Fusion, H-Infinity Synthesis
\end{IEEEkeywords}

\section{Introduction}
\label{sec:org1c3c846}
\label{sec:introduction}

\section{Optimal Super Sensor Noise: \(\mathcal{H}_2\) Synthesis}
\label{sec:org92b3e9e}
\label{sec:optimal_fusion}

\subsection{Sensor Fusion Architecture}
\label{sec:org3678a87}

\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/sensor_fusion_noise_arch.pdf}
\caption{\label{fig:sensor_fusion_noise_arch}Figure caption}
\end{figure}

\subsection{Super Sensor Noise}
\label{sec:orgdea8e6d}

\subsection{\(\mathcal{H}_2\) Synthesis of Complementary Filters}
\label{sec:org22b990a}

\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/h_two_optimal_fusion.pdf}
\caption{\label{fig:h_two_optimal_fusion}Figure caption}
\end{figure}

\subsection{Example}
\label{sec:orge0d6784}

\subsection{Robustness Problem}
\label{sec:orgce865b5}

\section{Robust Sensor Fusion: \(\mathcal{H}_\infty\) Synthesis}
\label{sec:org67d4941}
\label{sec:robust_fusion}

\subsection{Representation of Sensor Dynamical Uncertainty}
\label{sec:orgc542dcc}

\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/sensor_fusion_arch_uncertainty.pdf}
\caption{\label{fig:sensor_fusion_arch_uncertainty}Figure caption}
\end{figure}

\subsection{Super Sensor Dynamical Uncertainty}
\label{sec:org394776d}

\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/uncertainty_set_super_sensor.pdf}
\caption{\label{fig:uncertainty_set_super_sensor}Figure caption}
\end{figure}

\subsection{\(\mathcal{H_\infty}\) Synthesis of Complementary Filters}
\label{sec:org1b01372}

\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/h_infinity_robust_fusion.pdf}
\caption{\label{fig:h_infinity_robust_fusion}Figure caption}
\end{figure}

\subsection{Example}
\label{sec:orgaa648f2}

\section{Optimal and Robust Sensor Fusion: Mixed \(\mathcal{H}_2/\mathcal{H}_\infty\) Synthesis}
\label{sec:orgf084670}
\label{sec:optimal_robust_fusion}

\subsection{Sensor Fusion Architecture}
\label{sec:org3c9692b}

\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/sensor_fusion_arch_full.pdf}
\caption{\label{fig:sensor_fusion_arch_full}Figure caption}
\end{figure}

\subsection{Synthesis Objective}
\label{sec:orgae68b29}

\subsection{Mixed \(\mathcal{H}_2/\mathcal{H}_\infty\) Synthesis}
\label{sec:org92a0c83}

\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/mixed_h2_hinf_synthesis.pdf}
\caption{\label{fig:mixed_h2_hinf_synthesis}Figure caption}
\end{figure}

\subsection{Example}
\label{sec:org9ab5cae}

\section{Experimental Validation}
\label{sec:org6e8847d}
\label{sec:experimental_validation}

\subsection{Experimental Setup}
\label{sec:orgc64e6fd}

\subsection{Sensor Noise and Dynamical Uncertainty}
\label{sec:orge0cb611}

\subsection{Mixed \(\mathcal{H}_2/\mathcal{H}_\infty\) Synthesis}
\label{sec:org952072f}

\subsection{Super Sensor Noise and Dynamical Uncertainty}
\label{sec:org777e3ba}

\section{Conclusion}
\label{sec:orgaeb27bf}
\label{sec:conclusion}

\section{Acknowledgment}
\label{sec:orgae04552}

\bibliography{ref}
\end{document}
