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GAS decentralized navigation filters in a continuous-discrete fixed topology framework
Viegas D.2; Batista P.2; Oliveira P.2; Silvestre C.1
2013-10-15
Conference Name21st Mediterranean Conference on Control and Automation (MED)
Source Publication2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
Pages1286-1291
Conference DateJUN 25-28, 2013
Conference PlaceChania
CountryGreece
Author of SourceMediterranean Control Assoc; IEEE Control Syst Soc; IEEE Robot & Automat Soc; Tech Univ Crete; Univ Denver; IEEE
Publication Place345 E 47TH ST, NEW YORK, NY 10017 USA
PublisherIEEE
Abstract

This paper addresses the problem of state estimation in formations of autonomous vehicles. The approach considered here consists in the implementation of a local state observer in each vehicle relying only on locally available measurements and data communicated by neighboring agents, resulting in a decentralized state observer which features lower computational and communication loads than comparable centralized solutions. A method for computing observer gains which yield globally asymptotically stable error dynamics is presented for fixed topology formations, as well as an iterative algorithm for improving the decentralized estimator's performance when the measurements are corrupted by noise. The proposed framework is particularized to the practical case of a formation of Autonomous Underwater Vehicles (AUVs), and a continuous-discrete formulation is achieved for the local state observers, to take into account the difference in sampling rates between on-board instrumentation and positioning systems. To assess the performance of the solution, simulation results are presented and discussed for different formation topologies. © 2013 IEEE.

DOI10.1109/MED.2013.6608885
URLView the original
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000333245100196
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Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Universidade de Macau
2.Instituto Superior Técnico
Recommended Citation
GB/T 7714
Viegas D.,Batista P.,Oliveira P.,et al. GAS decentralized navigation filters in a continuous-discrete fixed topology framework[C]//Mediterranean Control Assoc; IEEE Control Syst Soc; IEEE Robot & Automat Soc; Tech Univ Crete; Univ Denver; IEEE. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2013:1286-1291.
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