Torvald Ersson

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For a robot trying to reach places in at least partially unknown environments there is often a need to replan paths online based on information extracted from the surroundings. In this paper is is assumed that the sensing range of the robot is short compared to the length of the paths it plans and the environment is modeled as a graph consisting of nodes(More)
In this paper, state observers for control systems with nonlinear outputs are studied. For such systems, the observability does not only depend on the initial conditions, but also on the exciting control used. Thus, for such systems, design of active control is an integral part of the design for state observers. Here some sufficient conditions are given for(More)
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