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Simultaneous Localization and mapping in sensor networks: A GES sensor-based filter with moving object tracking
Lourenco P.1; Batista P.1,2; Oliveira P.1,2; Silvestre C.1,3
2015-11-16
Conference NameEuropean Control Conference (ECC)
Source Publication2015 European Control Conference, ECC 2015
Pages2354-2359
Conference DateJUL 15-17, 2015
Conference PlaceLinz, AUSTRIA
Abstract

This paper presents the design, analysis, and validation of a globally exponentially stable (GES) filter for tridimensional (3-D) range-only simultaneous localization and mapping in sensor networks with moving object tracking. For observability analysis purposes, two nonlinear sensor-based dynamic systems are formulated resorting only to exact linear and angular kinematics and a motion model for the target. A state augmentation is exploited that allows the proposed formulation to be considered as linear time-varying without linearizing the original nonlinear systems. Constructive observability results can then be established, leading naturally to the design of a Kalman Filter with GES error dynamics. These results also provide valuable insight on the motion planning of the vehicle. Simulation results demonstrate the good performance of the algorithm and help validate the theoretical results, as well as illustrate the necessity of a proper trajectory.

DOI10.1109/ECC.2015.7330890
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000380485400374
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Cited Times [WOS]:1   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Inst Syst & Robot, Lab Robot & Syst Engn & Practice, Lisbon, Portugal
2.Univ Lisbon
3.Univ Macau
Recommended Citation
GB/T 7714
Lourenco P.,Batista P.,Oliveira P.,et al. Simultaneous Localization and mapping in sensor networks: A GES sensor-based filter with moving object tracking[C],2015:2354-2359.
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