Venturino, AntonelloBertrand, SylvainStoica Maniu, CristinaAlamo, TeodoroCamacho, Eduardo F.2023-04-192023-04-192022Venturino, 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.https://hdl.handle.net/11441/144655This 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.application/pdf8 p.engAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Location awarenessConstraint handlingOperating systemsComputational modelingEstimationRobot sensing systemsTime measurementinfo:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/openAccesshttps://doi.org/10.1109/CCTA49430.2022.9966151