Brief Paper: An EKF-Based Nonlinear Observer with a Prescribed Degree of Stability
Automatica (Journal of IFAC)
Monte Carlo filters for non-linear state estimation
Automatica (Journal of IFAC)
Brief Applying the EKF to stochastic differential equations with level effects
Automatica (Journal of IFAC)
New developments in state estimation for nonlinear systems
Automatica (Journal of IFAC)
Brief On robustness and precision of mobile robots missions
Automatica (Journal of IFAC)
IEEE Transactions on Circuits and Systems Part I: Regular Papers - Special section on 2009 IEEE custom integrated circuits conference
Model-based H2 adaptive filter for 3D positioning and tracking systems
Automatica (Journal of IFAC)
| Hi-index | 22.15 |
This paper addresses the sonar-based navigation of mobile robots. The extended Kalman filtering (EKF) technique is considered, but from a deterministic, nonstochastic, point of view. For this problem, new results are presented on the robustness of the nonlinear observation scheme. The original feature is that the region-of-convergence question is posed in its complete nonlinear framework, that is, considering the dynamics not only of the estimation error @z(t), but also of the covariance matrix P(t). In this way the approach followed makes less conservative the treatment and improves the convergence analysis. The proposed ideas were tested successfully on simulation experiments of a mobile platform.