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Decentralized range-based linear motion estimation in acyclic vehicle formations with fixed topologies
Viegas D.1; Batista P.1; Oliveira P.1; Silvestre C.1,2
2012-11-26
Source PublicationProceedings of the American Control Conference
ISSN07431619
Pages6575-6580
Abstract

The problem of decentralized state estimation in formations of autonomous vehicles is addressed in this paper. A reduced number of agents in the formation have access to absolute position measurements, while the rest must rely on range measurements to neighboring agents and local sensing and communication capabilities to estimate their own position and velocity. A method for designing local state estimators for each of the agents is presented such that the resulting decentralized state estimator features globally exponentially stable error dynamics when the graph associated with the formation is acyclic. Realistic simulation results are presented and discussed to assess the performance of the proposed solution under the influence of measurement noise. © 2012 AACC American Automatic Control Council).

DOI10.1016/j.sysconle.2011.12.004
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Operations Research & Management Science
WOS SubjectAutomation & Control Systems ; Operations Research & Management Science
WOS IDWOS:000302455000009
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Citation statistics
Cited Times [WOS]:16   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Univ Tecn Lisboa, Inst Super Tecn, Inst Syst & Robot, P-1049001 Lisbon, Portugal
2.Univ Macau, Fac Sci & Technol, Taipa, Macau, Peoples R China
Recommended Citation
GB/T 7714
Viegas D.,Batista P.,Oliveira P.,et al. Decentralized range-based linear motion estimation in acyclic vehicle formations with fixed topologies[J]. Proceedings of the American Control Conference,2012:6575-6580.
APA Viegas D.,Batista P.,Oliveira P.,&Silvestre C..(2012).Decentralized range-based linear motion estimation in acyclic vehicle formations with fixed topologies.Proceedings of the American Control Conference,6575-6580.
MLA Viegas D.,et al."Decentralized range-based linear motion estimation in acyclic vehicle formations with fixed topologies".Proceedings of the American Control Conference (2012):6575-6580.
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