UM
Discrete-time distributed Kalman filter design for multi-vehicle systems
Viegas, Daniel; Batista, Pedro; Oliveira, Paulo; Silvestre, Carlos; IEEE
2017
Conference Name2017 AMERICAN CONTROL CONFERENCE (ACC)
Pages5538-5543
Publication Place345 E 47TH ST, NEW YORK, NY 10017 USA
PublisherIEEE
AbstractThis paper addresses the problem of distributed state estimation in a multi-vehicle framework. In the scenario envisioned in this work, each vehicle aims to estimate its own state by implementing a local state observer which relies on locally available measurements and limited communication with other vehicles in the vicinity. The dynamics of the problem are formulated as a more general discrete-time Kalman filtering problem with a sparsity constraint on the gain and, based on this formulation, a method for computation of steady-state observer gains for arbitrary fixed measurement topologies is introduced. The proposed method consists in the optimization of the time-varying distributed Kalman filter over a finite time window to approximate steady-state behavior and compute well-performing steady-state observer gains. To assess the performance of the proposed solution, simulation results are detailed for the practical case of a formation of Autonomous Underwater Vehicles (AUVs).
URLView the original
Indexed ByCPCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000427033305098
The Source to ArticleWOS
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Cited Times [WOS]:2   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionUniversity of Macau
Recommended Citation
GB/T 7714
Viegas, Daniel,Batista, Pedro,Oliveira, Paulo,et al. Discrete-time distributed Kalman filter design for multi-vehicle systems[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2017:5538-5543.
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