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Nonlinear observers for unicycle robots with range sensors
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-0177-1993
2007 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 52, no 7, 1325-1329 p.Article in journal (Refereed) Published
Abstract [en]

For nonlinear mobile systems equipped with exteroceptive sensors, the observability does not only depend on the initial conditions, but also on the control and the environment. This presents an interesting issue: how to design an observer together with the exciting control. In this note, the problem of designing an observer based on range sensor readings is studied. A design method based on periodic excitations is proposed for unicycle robotic systems.

Place, publisher, year, edition, pages
2007. Vol. 52, no 7, 1325-1329 p.
Keyword [en]
active sensing, mobile robots, nonlinear observers, systems
National Category
Other Mathematics
URN: urn:nbn:se:kth:diva-16798DOI: 10.1109/tac.2007.900843ISI: 000248059700017ScopusID: 2-s2.0-34547111541OAI: diva2:334841

QC 20150727

Available from: 2010-08-05 Created: 2010-08-05 Last updated: 2015-07-27Bibliographically approved

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Hu, Xiaoming
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Optimization and Systems TheoryCentre for Autonomous Systems, CASACCESS Linnaeus Centre
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