Pith Number

pith:3Z7FE5CV

pith:2026:3Z7FE5CVBBVFVYROPCXAPIKVNS

not attested not anchored not stored refs resolved

Knapsack-based Online Sensor Selection for Vehicle State Estimation

Alessandro Colombo, Heejin Ahn, Jehyeop Han, Marcello Farina, Minhee Kang

A deficiency-weighted greedy algorithm solves the knapsack problem to pick a low-cost sensor subset that keeps Extended Kalman Filter estimation errors inside chance constraints in real time.

arxiv:2605.16801 v1 · 2026-05-16 · eess.SY · cs.SY

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\pithnumber{3Z7FE5CVBBVFVYROPCXAPIKVNS}

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

The deficiency-weighted greedy algorithm provides an approximate yet efficient solution to the multidimensional minimum knapsack problem that selects sensors while satisfying the chance-constrained error bounds derived from the EKF covariance.

C2weakest assumption

The EKF covariance matrix accurately represents the true probabilistic error bounds under the chosen sensor subset, and the chance constraints remain valid when the selected sensors change at each time step.

C3one line summary

A deficiency-weighted greedy algorithm solves a multidimensional minimum knapsack problem to select external sensors online while satisfying EKF-derived chance constraints on state estimation error.

References

16 extracted · 16 resolved · 0 Pith anchors

[1] Vitus and Wei Zhang and Alessandro Abate and Jianghai Hu and Claire J

[2] Sensor scheduling for linear systems: A covariance tracking approach , author=. Automatica , year=

[3] 2019 American Control Conference (ACC) , year= 2019

[4] Anderson, Brian DO and Moore, John B , title=

[5] Bar-Shalom, Yaakov and Li, X Rong and Kirubarajan, Thiagalingam , title=

Receipt and verification

First computed	2026-05-20T00:03:22.954439Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

de7e527455086a5ae22e78ae07a1556c999f9489a1e2fe67598a0a7de9b2e796

Aliases

arxiv: 2605.16801 · arxiv_version: 2605.16801v1 · doi: 10.48550/arxiv.2605.16801 · pith_short_12: 3Z7FE5CVBBVF · pith_short_16: 3Z7FE5CVBBVFVYRO · pith_short_8: 3Z7FE5CV

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/3Z7FE5CVBBVFVYROPCXAPIKVNS \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: de7e527455086a5ae22e78ae07a1556c999f9489a1e2fe67598a0a7de9b2e796

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a34514d107a6bbb585ab33d59b408478f427911cce034c27a18881734a6a1ca8",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2026-05-16T04:03:53Z",
    "title_canon_sha256": "c2105d25a9299122bb4166b8278e96d0664e1abd94b8272e75cb0e95e1e6955a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.16801",
    "kind": "arxiv",
    "version": 1
  }
}