Ondrej Straka

Ángel F. García-Fernández

Stat. Comput., December, 2025

Model-based Multi-object Visual Tracking: Identification and Standard Model Limitations.

[BibT_eX]

[DOI]

CoRR, August, 2025

Revisiting Functional Derivatives in Multi-object Tracking.

[BibT_eX]

[DOI]

CoRR, August, 2025

GOSPA and T-GOSPA quasi-metrics for evaluation of multi-object tracking algorithms.

[BibT_eX]

[DOI]

CoRR, July, 2025

Artificial Intelligence-Aided Kalman Filters: AI-Augmented Designs for Kalman-Type Algorithms.

[BibT_eX]

[DOI]

IEEE Signal Process. Mag., May, 2025

Efficient Gaussian Mixture Filters based on Transition Density Approximation.

[BibT_eX]

[DOI]

Uwe D. Hanebeck

CoRR, May, 2025

Interpretable Augmented Physics-Based Model for Estimation and Tracking.

[BibT_eX]

[DOI]

CoRR, May, 2025

Lagrangian Grid-Based Filters With Application to Terrain-Aided Navigation.

[BibT_eX]

[DOI]

IEEE Signal Process. Mag., March, 2025

Optimizing the Order of Modes in Tensor Train Decomposition.

[BibT_eX]

[DOI]

IEEE Signal Process. Lett., 2025

Spoofing Detection in Time Domain for Stationary and Moving Receiver.

[BibT_eX]

[DOI]

Proceedings of the IEEE/ION Position, Location and Navigation Symposium, 2025

2024

Augmented Physics-Based Models for High-Order Markov Filtering.

[BibT_eX]

[DOI]

Sensors, September, 2024

Augmented Physics-Based Machine Learning for Navigation and Tracking.

[BibT_eX]

[DOI]

IEEE Trans. Aerosp. Electron. Syst., June, 2024

Active fault diagnosis for stochastic large scale systems under non-separable costs.

[BibT_eX]

[DOI]

Ángel F. García-Fernández

Autom., January, 2024

TGOSPA Metric Parameters Selection and Evaluation for Visual Multi-object Tracking.

[BibT_eX]

[DOI]

CoRR, 2024

AI-Aided Kalman Filters.

[BibT_eX]

[DOI]

CoRR, 2024

UAV Trajectory Planning with Path Processing.

[BibT_eX]

[DOI]

CoRR, 2024

Mission Planner for UAV Battery Replacement.

[BibT_eX]

[DOI]

CoRR, 2024

Noise Identification for Data-Augmented Physics-Based State-Space Models.

[BibT_eX]

[DOI]

Proceedings of the IEEE Workshop on Signal Processing Systemsm, 2024

Trajectory Tracking for UAVs: An Interpolating Control Approach.

[BibT_eX]

[DOI]

Proceedings of the 28th International Conference on Methods and Models in Automation and Robotics, 2024

Pedestrian Tracking with Monocular Camera: Simple 2D Filter Springing From 3D Modeling.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2024

Dual Approach to Inverse Covariance Intersection Fusion.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2024

Leveraging Lazy Theta* Path Planning for UAV Pseudospectral Trajectory Optimization Initialization.

[BibT_eX]

[DOI]

Proceedings of the 17th International Conference on Control, 2024

Design of Unitless Normalized Measure of Nonlinearity for State Estimation.

[BibT_eX]

[DOI]

Mohammad Zahidul Hasan Bhuiyan

Jindrich Havlík

Proceedings of the 27th International Conference on Information Fusion, 2024

Pedestrian Tracking with Monocular Camera using Unconstrained 3D Motion Model.

[BibT_eX]

[DOI]

Proceedings of the 27th International Conference on Information Fusion, 2024

Multi-layer GNSS and LEO-PNT Positioning: Integrity under Constellations' Correlation.

[BibT_eX]

[DOI]

Fabricio dos Santos Prol

Muwahida Liaquat

Proceedings of the 27th International Conference on Information Fusion, 2024

Stochastic Integration Based Estimator: Robust Design and Stone Soup Implementation.

[BibT_eX]

[DOI]

Proceedings of the 27th International Conference on Information Fusion, 2024

On fusion of probability density functions using tensor train decomposition.

[BibT_eX]

[DOI]

Proceedings of the 27th International Conference on Information Fusion, 2024

Tensor Train Approximation of Multivariate Functions.

[BibT_eX]

[DOI]

Proceedings of the 32nd European Signal Processing Conference, 2024

2023

To Click, or Not to Click? Perfectionism and the Association of Gender and Competitiveness on Game-Point Monitoring.

[BibT_eX]

[DOI]

Technol. Knowl. Learn., December, 2023

Identification of GNSS Measurement Error: From Time to Elevation Dependency.

[BibT_eX]

[DOI]

IEEE Trans. Aerosp. Electron. Syst., December, 2023

Measurement Difference Method: A Universal Tool for Noise Identification.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., March, 2023

Grid-Based Bayesian Filters With Functional Decomposition of Transient Density.

[BibT_eX]

[DOI]

IEEE Trans. Signal Process., 2023

Design of Efficient Point-Mass Filter for Linear and Nonlinear Dynamic Models.

[BibT_eX]

[DOI]

IEEE Control. Syst. Lett., 2023

Classification of Uncertainty Sources for Reliable Bayesian Estimation.

[BibT_eX]

[DOI]

Benjamin Noack

Proceedings of the 2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration (SDF-MFI), 2023

On Visualisation of Linear Estimation and Fusion: From Equations to Ellipses.

[BibT_eX]

[DOI]

Proceedings of the 2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration (SDF-MFI), 2023

GNSS Pseudorange Measurement Noise Identification by Measurement Difference Method.

[BibT_eX]

[DOI]

Proceedings of the IEEE/ION Position, Location and Navigation Symposium, 2023

Approximate Bayesian State Estimation for Active Fault Diagnosis of Large-Scale Systems.

[BibT_eX]

[DOI]

Proceedings of the 26th International Conference on Information Fusion, 2023

Bounding Box Dynamics in Visual Tracking: Modeling and Noise Covariance Estimation.

[BibT_eX]

[DOI]

Proceedings of the 26th International Conference on Information Fusion, 2023

Bounding Box Detection in Visual Tracking: Measurement Model Parameter Estimation.

[BibT_eX]

[DOI]

Jan Krejcí

Proceedings of the 26th International Conference on Information Fusion, 2023

Fault Detection in Resilient Time Provision.

[BibT_eX]

[DOI]

Proceedings of the 26th International Conference on Information Fusion, 2023

Approximate fusion of probability density functions using Gaussian copulas.

[BibT_eX]

[DOI]

Proceedings of the 26th International Conference on Information Fusion, 2023

2022

Copula-based convolution for fast point-mass prediction.

[BibT_eX]

[DOI]

Signal Process., 2022

Distributed design for active fault diagnosis.

[BibT_eX]

[DOI]

Int. J. Syst. Sci., 2022

Covariance Intersection fusion with element-wise partial knowledge of correlation.

[BibT_eX]

[DOI]

Autom., 2022

A Study of Fusions of Multiple Estimates for Limit Cases.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2022

Point-Mass Filter with Decomposition of Transient Density.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Acoustics, 2022

Efficient Implementation of Marginal Particle Filter by Functional Density Decomposition.

[BibT_eX]

[DOI]

Proceedings of the 25th International Conference on Information Fusion, 2022

Density Approximation Error Assessment and Compensation in Point-Mass Filter.

[BibT_eX]

[DOI]

Proceedings of the 25th International Conference on Information Fusion, 2022

Feature-Based Multi-Object Tracking With Maximally One Object per Class.

[BibT_eX]

[DOI]

Proceedings of the 25th International Conference on Information Fusion, 2022

Hybrid Neural Network Augmented Physics-based Models for Nonlinear Filtering.

[BibT_eX]

[DOI]

Proceedings of the 25th International Conference on Information Fusion, 2022

Linear Fusion with Element-Wise Knowledge.

[BibT_eX]

[DOI]

Proceedings of the 25th International Conference on Information Fusion, 2022

Linear Fusion under Random Correlation of Estimation Errors.

[BibT_eX]

[DOI]

Proceedings of the 30th European Signal Processing Conference, 2022

2021

Accurate Density-Weighted Convolution for Point-Mass Filter and Predictor.

[BibT_eX]

[DOI]

IEEE Trans. Aerosp. Electron. Syst., 2021

Improved Calibration of Numerical Integration Error in Sigma-Point Filters.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2021

Learning and Exploiting Partial Knowledge in Distributed Estimation.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2021

Lower Bounds In Estimation Fusion With Partial Knowledge of Correlations.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2021

Importance Gauss-Hermite Gaussian Filter for Models with Non-Additive Non-Gaussian Noises.

[BibT_eX]

[DOI]

Víctor Elvira

Proceedings of the 24th IEEE International Conference on Information Fusion, 2021

Cooperative Unscented Kalman Filler with Bank of Scaling Parameter Values.

[BibT_eX]

[DOI]

Uwe D. Hanebeck

Proceedings of the 24th IEEE International Conference on Information Fusion, 2021

Comparison of Confidence Sets Designs for Various Degrees of Knowledge.

[BibT_eX]

[DOI]

Proceedings of the 24th IEEE International Conference on Information Fusion, 2021

2020

Model predictive control of electric drive system with L1-norm.

[BibT_eX]

[DOI]

Marek Fehér

Václav Smídl

Eur. J. Control, 2020

Decentralized and distributed active fault diagnosis: Multiple model estimation algorithms.

[BibT_eX]

[DOI]

Int. J. Appl. Math. Comput. Sci., 2020

Navigation and Estimation Improvement by Environmental-Driven Noise Mode Detection.

[BibT_eX]

[DOI]

Proceedings of the IEEE/ION Position, Location and Navigation Symposium, 2020

Evaluation of Confidence Sets for Estimation with Piecewise Linear Constraint.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2020

Conditional Density Driven Grid Design in Point-Mass Filter.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Acoustics, 2020

Hierarchical Active Fault Diagnosis for Stochastic Large Scale Systems with Coupled Faults.

[BibT_eX]

[DOI]

Proceedings of the IEEE 23rd International Conference on Information Fusion, 2020

Resampling-free Stochastic Integration Filter.

[BibT_eX]

[DOI]

Proceedings of the IEEE 23rd International Conference on Information Fusion, 2020

Reliable Convolution in Point-Mass Filter for a Class of Nonlinear Models.

[BibT_eX]

[DOI]

Proceedings of the IEEE 23rd International Conference on Information Fusion, 2020

Inverse Covariance Intersection Fusion of Multiple Estimates.

[BibT_eX]

[DOI]

Proceedings of the IEEE 23rd International Conference on Information Fusion, 2020

Time-to-go function of double-integrator system with asymmetrical constraints.

[BibT_eX]

[DOI]

Marek Fehér

Proceedings of the 18th European Control Conference, 2020

Design of Confidence Sets for Estimation with Approximate Piecewise Linear Constraint.

[BibT_eX]

[DOI]

Proceedings of the 18th European Control Conference, 2020

2019

Design of Rao-Blackwellized Point-Mass Smoother for Conditionally Linear and Gaussian Models.

[BibT_eX]

[DOI]

IEEE Trans. Signal Process., 2019

Design of Rao-Blackwellized Point-Mass Filter With Application in Terrain Aided Navigation.

[BibT_eX]

[DOI]

IEEE Trans. Aerosp. Electron. Syst., 2019

Decentralised estimation with correlation limited by optimal processing of independent data.

[BibT_eX]

[DOI]

Autom., 2019

Calculation of Support Function for Fusion Under Partial Knowledge.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Industrial Cyber Physical Systems, 2019

Decentralized and Distributed Active Fault Diagnosis for Stochastic Systems with Indirect Observations.

[BibT_eX]

[DOI]

Proceedings of the 22th International Conference on Information Fusion, 2019

Measures of Nonlinearity and non-Gaussianity in Orbital Uncertainty Propagation.

[BibT_eX]

[DOI]

Jindrich Havlík

Proceedings of the 22th International Conference on Information Fusion, 2019

Solution Separation Unscented Kalman Filter.

[BibT_eX]

[DOI]

Erik Blasch

Proceedings of the 22th International Conference on Information Fusion, 2019

Rao-Blackwellised Point-Mass Smoothers for a Class of Conditionally Linear Dynamic Models.

[BibT_eX]

[DOI]

Proceedings of the 22th International Conference on Information Fusion, 2019

On Fusion of Partial Estimates Under Implicit Partial Knowledge of Correlation.

[BibT_eX]

[DOI]

Proceedings of the 22th International Conference on Information Fusion, 2019

Non-centralized Active Fault Diagnosis for Stochastic Systems.

[BibT_eX]

[DOI]

Proceedings of the 2019 American Control Conference, 2019

Rectification of Partitioned Covariance Intersection.

[BibT_eX]

[DOI]

Proceedings of the 2019 American Control Conference, 2019

2018

Covariance Intersection in Track-to-Track Fusion: Comparison of Fusion Configurations.

[BibT_eX]

[DOI]

IEEE Trans. Ind. Informatics, 2018

Actor-Critic Off-Policy Learning for Optimal Control of Multiple-Model Discrete-Time Systems.

[BibT_eX]

[DOI]

IEEE Trans. Cybern., 2018

Gaussian Process Quadrature Moment Transform.

[BibT_eX]

[DOI]

Jakub Prüher

IEEE Trans. Autom. Control., 2018

State estimate consistency monitoring in Gaussian filtering framework.

[BibT_eX]

[DOI]

Signal Process., 2018

Directional splitting of Gaussian density in non-linear random variable transformation.

[BibT_eX]

[DOI]

IET Signal Process., 2018

Design of measurement difference autocovariance method for estimation of process and measurement noise covariances.

[BibT_eX]

[DOI]

Autom., 2018

Fusion of Multiple Estimates by Covariance Intersection: Why and Howit Is Suboptimal.

[BibT_eX]

[DOI]

Int. J. Appl. Math. Comput. Sci., 2018

State and measurement noise in positioning and tracking: Covariance matrices Estimation and Gaussianity Assessment.

[BibT_eX]

[DOI]

Proceedings of the IEEE/ION Position, Location and Navigation Symposium, 2018

Entropy-Based Consistency Monitoring for Stochastic Integration Filter.

[BibT_eX]

[DOI]

Proceedings of the 21st International Conference on Information Fusion, 2018

Reconstruction of Cross-Correlations with Constant Number of Deterministic Samples.

[BibT_eX]

[DOI]

Proceedings of the 21st International Conference on Information Fusion, 2018

Stochastic Integration Filter: Theoretical and Implementation Aspects.

[BibT_eX]

[DOI]

Jindrich Havlik

Uwe D. Hanebeck

Proceedings of the 21st International Conference on Information Fusion, 2018

Analysis of Partial Knowledge of Correlations in an Estimation Fusion Problem.

[BibT_eX]

[DOI]

Proceedings of the 21st International Conference on Information Fusion, 2018

Multiple-Model Active Fault Diagnosis with Deferred Decisions.

[BibT_eX]

[DOI]

Proceedings of the 57th IEEE Conference on Decision and Control, 2018

Correlated Noise Characteristics Estimation for Linear Time-Varying Systems.

[BibT_eX]

[DOI]

Jindrich Dunrek

Proceedings of the 57th IEEE Conference on Decision and Control, 2018

Estimation of Noise Means and Covariance Matrices for Linear Time-Varying Models.

[BibT_eX]

[DOI]

Proceedings of the 2018 Annual American Control Conference, 2018

2017

On Autocovariance Least-Squares Method for Noise Covariance Matrices Estimation.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2017

On weak points of the ellipsoidal intersection fusion.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2017

Efficient MPC for permanent magnet synchronous motor.

[BibT_eX]

[DOI]

Marek Feher

Václav Smídl

Proceedings of the 25th Mediterranean Conference on Control and Automation, 2017

Stochastic integration Student's-t filter.

[BibT_eX]

[DOI]

Proceedings of the 20th International Conference on Information Fusion, 2017

Student-t process quadratures for filtering of non-linear systems with heavy-tailed noise.

[BibT_eX]

[DOI]

Proceedings of the 20th International Conference on Information Fusion, 2017

Performance evaluation of nonlinearity and non-Gaussianity measures in state estimation.

[BibT_eX]

[DOI]

Ángel Luis García-Fernández

Proceedings of the 20th International Conference on Information Fusion, 2017

From competitive to cooperative filter design.

[BibT_eX]

[DOI]

Proceedings of the 20th International Conference on Information Fusion, 2017

A geometrical perspective on fusion under unknown correlations based on Minkowski sums.

[BibT_eX]

[DOI]

Proceedings of the 20th International Conference on Information Fusion, 2017

Efficient active fault diagnosis using adaptive particle filter.

[BibT_eX]

[DOI]

Jan Skach

Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

Noise covariance matrix estimation in navigation and tracking: Impact of linearisation error.

[BibT_eX]

[DOI]

Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

2016

Efficient adaptation of design parameters of derivative-free filters.

[BibT_eX]

[DOI]

Autom. Remote. Control., 2016

Covariance intersection in track-to-track fusion with memory.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2016

Stochastic Integration Filter with Improved State Estimate Mean-Square Error Computation.

[BibT_eX]

[DOI]

Proceedings of the Informatics in Control, Automation and Robotics, 2016

On Nonlinearity Measuring Aspects of Stochastic Integration Filter.

[BibT_eX]

[DOI]

Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2016), 2016

Characteristic function based performance index for Bayesian filters.

[BibT_eX]

[DOI]

Proceedings of the 19th International Conference on Information Fusion, 2016

Survey of nonlinearity and non-Gaussianity measures for state estimation.

[BibT_eX]

[DOI]

Proceedings of the 19th International Conference on Information Fusion, 2016

Covariance intersection in track-to-track fusion without memory.

[BibT_eX]

[DOI]

Proceedings of the 19th International Conference on Information Fusion, 2016

Measurement difference autocovariance method for noise covariance matrices estimation.

[BibT_eX]

[DOI]

Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Directional Splitting for Structure Adaptation of Bayesian Filters.

[BibT_eX]

[DOI]

Proceedings of the 2016 American Control Conference, 2016

2015

Random-point-based filters: analysis and comparison in target tracking.

[BibT_eX]

[DOI]

IEEE Trans. Aerosp. Electron. Syst., 2015

Design of discrete second order filters for continuous-discrete models.

[BibT_eX]

[DOI]

Proceedings of the 18th International Conference on Information Fusion, 2015

Estimation of state and measurement noise characteristics.

[BibT_eX]

[DOI]

Proceedings of the 18th International Conference on Information Fusion, 2015

Structure adaptation of nonlinear filters based on non-Gaussianity measures.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2015

2014

Unscented Kalman filter with advanced adaptation of scaling parameter.

[BibT_eX]

[DOI]

Autom., 2014

Comparison of adaptive and randomized unscented Kalman filter algorithms.

[BibT_eX]

[DOI]

Proceedings of the 17th International Conference on Information Fusion, 2014

Measures of non-Gaussianity in unscented Kaiman filter framework.

[BibT_eX]

[DOI]

Proceedings of the 17th International Conference on Information Fusion, 2014

On sigma-point set rotation in derivative-free filters.

[BibT_eX]

[DOI]

Proceedings of the 17th International Conference on Information Fusion, 2014

Self-assessment of local filters by non-Gaussianity measures.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2014

2013

Stochastic Integration Filter.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2013

Nonlinear estimation framework: A versatile tool for state estimation.

[BibT_eX]

[DOI]

Proceedings of the 18th International Conference on Methods & Models in Automation & Robotics, 2013

Truncated randomized unscented Kalman filter for interval constrained state estimation.

[BibT_eX]

[DOI]

Proceedings of the 16th International Conference on Information Fusion, 2013

Nonlinearity and non-Gaussianity measures for stochastic dynamic systems.

[BibT_eX]

[DOI]

Proceedings of the 16th International Conference on Information Fusion, 2013

Aspects and comparison of matrix decompositions in unscented Kalman filter.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2013

2012

Unscented Kalman Filter: Aspects and Adaptive Setting of Scaling Parameter.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2012

Truncation nonlinear filters for state estimation with nonlinear inequality constraints.

[BibT_eX]

[DOI]

Autom., 2012

Randomized unscented transform in state estimation of non-Gaussian systems: Algorithms and performance.

[BibT_eX]

[DOI]

Proceedings of the 15th International Conference on Information Fusion, 2012

Randomized unscented Kalman filter in target tracking.

[BibT_eX]

[DOI]

Proceedings of the 15th International Conference on Information Fusion, 2012

Distributed tracking fidelity-metric performance analysis using confusion matrices.

[BibT_eX]

[DOI]

Proceedings of the 15th International Conference on Information Fusion, 2012

Scaling parameter in unscented transform: Analysis and specification.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2012

2011

Particle filter with adaptive sample size.

[BibT_eX]

[DOI]

Kybernetika, 2011

Performance evaluation of local state estimation methods in bearings-only tracking problems.

[BibT_eX]

[DOI]

Proceedings of the 14th International Conference on Information Fusion, 2011

Gaussian sum unscented Kalman filter with adaptive scaling parameters.

[BibT_eX]

[DOI]

Proceedings of the 14th International Conference on Information Fusion, 2011

Truncated unscented particle filter.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2011

2010

Nonlinear estimation framework in target tracking.

[BibT_eX]

[DOI]

Proceedings of the 13th Conference on Information Fusion, 2010

Adaptive choice of scaling parameter in derivative-free local filters.

[BibT_eX]

[DOI]

Proceedings of the 13th Conference on Information Fusion, 2010

Multiple-model filtering with multiple constraints.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2010

2009

Gaussian mixtures proposal density in particle filter for track-before-detect.

[BibT_eX]

[DOI]

Proceedings of the 12th International Conference on Information Fusion, 2009

2008

Functional sampling density design for particle filters.

[BibT_eX]

[DOI]

Signal Process., 2008

2007

Sampling Densities of Particle Filter: A Survey and Comparison.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2007

2005

Performance analysis of derivative-free filters.

[BibT_eX]

[DOI]

Proceedings of the 44th IEEE IEEE Conference on Decision and Control and 8th European Control Conference Control, 2005

2003

Nonlinear Filtering Methods: Some Aspects and Performance Evaluation.

[BibT_eX]