UM
Discrete-time distributed Kalman filter design for formations of autonomous vehicles
Viegas, Daniel; Batista, Pedro; Oliveira, Paulo; Silvestre, Carlos
2018-06
Source PublicationCONTROL ENGINEERING PRACTICE
ISSN0967-0661
Volume75Pages:55-68
AbstractThis paper addresses the problem of distributed state estimation in a multi-vehicle framework. Each vehicle aims to estimate its own state relying on locally available measurements and limited communication with other vehicles in the vicinity. The dynamics of the problem are formulated as a discrete-time Kalman filtering problem with a sparsity constraint on the gain, and two different algorithms for computation of steady-state observer gains for arbitrary fixed measurement topologies are introduced. Their application to the practical problem of distributed localization in a formation of Autonomous Underwater Vehicles (AUVs) is detailed, supported by simulation results.
KeywordDistributed estimation Kalman filtering Multi-vehicle systems Autonomous underwater vehicles State observer design
DOI10.1016/j.conengprac.2018.03.014
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000433648100005
PublisherPERGAMON-ELSEVIER SCIENCE LTD
The Source to ArticleWOS
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Cited Times [WOS]:4   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Recommended Citation
GB/T 7714
Viegas, Daniel,Batista, Pedro,Oliveira, Paulo,et al. Discrete-time distributed Kalman filter design for formations of autonomous vehicles[J]. CONTROL ENGINEERING PRACTICE,2018,75:55-68.
APA Viegas, Daniel,Batista, Pedro,Oliveira, Paulo,&Silvestre, Carlos.(2018).Discrete-time distributed Kalman filter design for formations of autonomous vehicles.CONTROL ENGINEERING PRACTICE,75,55-68.
MLA Viegas, Daniel,et al."Discrete-time distributed Kalman filter design for formations of autonomous vehicles".CONTROL ENGINEERING PRACTICE 75(2018):55-68.
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