Sensor Noise Rejection
  An inaccessible control architecture caused an undesirable influence on a UAV. The encountered noise in the performance was modeled using stochastic methods and a corrective term was implemented on an external controller. Our findings suggest that the sonar noise problem is unconventional may warrant the development of a new methodology. 
Rakshit Allamaraju, Ben Reish, Allan Axelrod
stat.AP cs.RO