Sensor-based globally exponentially stable range-only simultaneous localization and mapping

@article{Loureno2015SensorbasedGE,
  title={Sensor-based globally exponentially stable range-only simultaneous localization and mapping},
  author={Pedro Lourenço and Pedro Tiago Martins Batista and Paulo Jorge Ramalho Oliveira and Carlos Silvestre and C. L. Philip Chen},
  journal={Robotics and Autonomous Systems},
  year={2015},
  volume={68},
  pages={72-85}
}
This paper proposes the design, analysis, and validation of a globally exponentially stable (GES) filter for tridimensional (3-D) range-only simultaneous localization and mapping. For observability analysis purposes, a nonlinear sensor-based dynamical system is formulated resorting only to exact linear and angular kinematics and a state augmentation is exploited that allows the proposed formulation to be considered as linear time-varying without linearizing the original nonlinear system… CONTINUE READING
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