Presentation
Multi-Vehicle System Localization by Distributed Moving Horizon Estimation over a Sensor Network with Sporadic Measurements
Author/s | Venturino, Antonello
Bertrand, Sylvain Stoica Maniu, Cristina Alamo, Teodoro ![]() ![]() ![]() ![]() ![]() ![]() ![]() Camacho, Eduardo F. ![]() ![]() ![]() ![]() ![]() ![]() ![]() |
Department | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Publication Date | 2022 |
Deposit Date | 2023-04-19 |
Published in |
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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 ... 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. |
Funding agencies | Agencia Estatal de Investigación. España |
Project ID. | PID2019-106212RB
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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. |