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Multi-Vehicle System Localization by Distributed Moving Horizon Estimation over a Sensor Network with Sporadic Measurements
dc.creator | Venturino, Antonello | es |
dc.creator | Bertrand, Sylvain | es |
dc.creator | Stoica Maniu, Cristina | es |
dc.creator | Alamo, Teodoro | es |
dc.creator | Camacho, Eduardo F. | es |
dc.date.accessioned | 2023-04-19T14:32:39Z | |
dc.date.available | 2023-04-19T14:32:39Z | |
dc.date.issued | 2022 | |
dc.identifier.citation | Venturino, A., Bertrand, S., Stoica Maniu, C., Álamo Cantarero, T. y Camacho, E.F. (2022). Multi-Vehicle System Localization by Distributed Moving Horizon Estimation over a Sensor Network with Sporadic Measurements. En IEEE Conference on Control Technology and Applications (CCTA) (595-600), Trieste, Italia: Elsevier. | |
dc.identifier.uri | https://hdl.handle.net/11441/144655 | |
dc.description.abstract | This paper proposes a Distributed Moving Horizon Estimator (DMHE) for the Multi-Vehicle system localization problem using Sensor Networks with sporadic measurements. Due to its capability to efficiently exploit environmental information via constraints, the proposed DHME technique is well-suited to better estimate the system state when measurements are available at time instants a priori unknown. Indeed, the use of output constraints can contribute to locally improve estimation accuracy, especially when dealing with sporadic measurements and biased sensors data. A realistic case study is proposed within the Robot Operating System framework and Gazebo to localize a Multi-Vehicle System using an inexpensive Sensor Network with low-computation capabilities. A comparative campaign simulation is performed to confirm the effectiveness of the proposed DMHE algorithm in terms of accuracy, computation time, and constraints handling with respect to existing results. | es |
dc.description.sponsorship | Unión Europea 789051 | es |
dc.format | application/pdf | es |
dc.format.extent | 8 p. | es |
dc.language.iso | eng | es |
dc.publisher | Elsevier | es |
dc.relation.ispartof | IEEE Conference on Control Technology and Applications (CCTA) (2022), pp. 595-600. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Location awareness | es |
dc.subject | Constraint handling | es |
dc.subject | Operating systems | es |
dc.subject | Computational modeling | es |
dc.subject | Estimation | es |
dc.subject | Robot sensing systems | es |
dc.subject | Time measurement | es |
dc.title | Multi-Vehicle System Localization by Distributed Moving Horizon Estimation over a Sensor Network with Sporadic Measurements | es |
dc.type | info:eu-repo/semantics/conferenceObject | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/acceptedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | PID2019-106212RB | es |
dc.relation.projectID | 789051 | es |
dc.relation.publisherversion | https://ieeexplore.ieee.org/abstract/document/9966151/keywords#keywords | es |
dc.identifier.doi | 10.1109/CCTA49430.2022.9966151 | es |
dc.publication.initialPage | 595 | es |
dc.publication.endPage | 600 | es |
dc.eventtitle | IEEE Conference on Control Technology and Applications (CCTA) | es |
dc.eventinstitution | Trieste, Italia | es |
dc.contributor.funder | Agencia Estatal de Investigación. España | es |