Anisi, David A. (Royal Institute of Technology (KTH)), Hu, Xiaoming (Royal Institute of Technology (KTH))

Observability and Active Observers for Mobile Robotic Systems

Scheduled for presentation during the Regular Session "Robotic Systems" (MoP07), Monday, July 24, 2006, 15:20−15:45, Room H

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on April 18, 2024

Abstract

An important class of non-uniformly observable systems come from applications in mobile robotics. In this paper, the problem of active observer design for such systems is considered. The set of feasible configurations and the set of output flow equivalent states is defined. It is shown that the inter-relation between these two sets serves as the basis for design of active observers. The proposed observer design methodology is illustrated by considering a unicycle robot model, equipped with a set of range-measuring sensors.