Ivan Vitanov

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This paper presents an algorithm for the near-optimal allocation of buffer space to an assembly line by means of the ant colony optimisation (ACO) paradigm. Uniquely, the algorithm has been designed to work in conjunction with a simulation model and is adapted to have both combinatorial and stochastic problem-solving capability. The simulation model was(More)
An integrated navigation system (INS) on a vehicle platform such as a quadrotor UAV is an example of a multisensor system, wherein data streams coming from different sensors are combined to bring about improved situational awareness. This paper examines the implementation of two related approaches to distributed estimation and fault diagnosis in a(More)
To ensure safe operation of unmanned aerial vehicles (UAVs), component hazards need to be dealt with robustly through effective fault diagnosis. The extended Kalman filter (EKF) has proven popular in this realm, though it is known to suffer from linearisation errors that can degrade performance. This paper presents results from initial simulation trials(More)
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