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Active nonlinear observers for mobile systems
KTH, Superseded Departments, Mathematics.
KTH, Superseded Departments, Mathematics.ORCID iD: 0000-0003-0177-1993
2004 (English)In: 2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5, 2004, 3898-3902 p.Conference paper (Refereed)
Abstract [en]

For nonlinear systems in general, the observability does not only depend on the initial conditions, but also on the control. This presents an interesting issue: how to design an observer together with the exciting control. In this paper a subproblem in the so called SLAM problem-the relocalization problem is studied, namely, observing the state of a mobile system based on distance sensor readings. An observer is proposed for a car-like robotic system.

Place, publisher, year, edition, pages
2004. 3898-3902 p.
, IEEE Conference On Decision And Control - Proceedings, ISSN 0191-2216
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
URN: urn:nbn:se:kth:diva-44336DOI: 10.1109/CDC.2004.1429346ISI: 000226745603091ScopusID: 2-s2.0-14244261993ISBN: 0-7803-8682-5OAI: diva2:451006
43rd IEEE Conference on Decision and Control Location: San Diego, CA Date: DEC 14-17, 2004
QC 20111024Available from: 2011-10-24 Created: 2011-10-20 Last updated: 2011-10-24Bibliographically approved

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Cedervall, SimonHu, Xiaoming
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