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Decentralized state observers for range-based position and velocity estimation in acyclic formations with fixed topologies
Viegas D.1; Batista P.1; Oliveira P.1; Silvestre C.2
2016-03-25
Source PublicationInternational Journal of Robust and Nonlinear Control
ISSN10991239 10498923
Volume26Issue:5Pages:963-994
Abstract

Summary This paper addresses the problem of decentralized position and velocity estimation in formations of autonomous vehicles. A limited number of vehicles in the formation have access to absolute position measurements, while the rest must rely on range measurements to neighboring agents, local sensor data, and limited communication capabilities to estimate their own position and velocity. The contribution is threefold: (i) a method for designing local state observers for each agent in the formation that rely only on locally available information is presented; (ii) the stability of the continuous-time linear time-varying Kalman filter subject to exponentially decaying perturbations in some variables is studied; and (iii) the stability of the error dynamics of the resulting decentralized state observer is analyzed for acyclic formations with fixed topologies, and it is shown that the error converges exponentially fast to the origin for all initial conditions. Simulation results are presented and discussed to validate the proposed solution, as well as assessing its performance under the influence of measurement noise.

KeywordAutonomous Vehicles Decentralized State Observers Kalman Filtering
DOI10.1002/rnc.3346
URLView the original
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering ; Mathematics
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied
WOS IDWOS:000368798000004
PublisherWILEY-BLACKWELL, 111 RIVER ST, HOBOKEN 07030-5774, NJ USA
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Cited Times [WOS]:1   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Instituto Superior Técnico
2.Universidade de Macau
Recommended Citation
GB/T 7714
Viegas D.,Batista P.,Oliveira P.,et al. Decentralized state observers for range-based position and velocity estimation in acyclic formations with fixed topologies[J]. International Journal of Robust and Nonlinear Control,2016,26(5):963-994.
APA Viegas D.,Batista P.,Oliveira P.,&Silvestre C..(2016).Decentralized state observers for range-based position and velocity estimation in acyclic formations with fixed topologies.International Journal of Robust and Nonlinear Control,26(5),963-994.
MLA Viegas D.,et al."Decentralized state observers for range-based position and velocity estimation in acyclic formations with fixed topologies".International Journal of Robust and Nonlinear Control 26.5(2016):963-994.
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