{"title":"A modular architecture for mobile robots equipped with continuous-discrete observers","authors":"G. Vinco, P. Braun, L. Zaccarian","doi":"10.1109/ICM46511.2021.9385612","DOIUrl":null,"url":null,"abstract":"Ahstract-We illustrate the design and development of a modular hardware/software system for multiple unicycle-like mobile robots localized via a set of camera modules. We describe the architecture and calibration of the hardware/software setup and then discuss two continuous-discrete observation laws for the distributed estimation of the robot positions. We show that a suitable model exploiting the onboard IMU measurements of the robots, enables obtaining an estimation error that is a cascade of two linear systems, for which we can show global exponential convergence to zero. The results are illustrated by our experimental tests.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IEEE International Conference on Mechatronics (ICM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICM46511.2021.9385612","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
Ahstract-We illustrate the design and development of a modular hardware/software system for multiple unicycle-like mobile robots localized via a set of camera modules. We describe the architecture and calibration of the hardware/software setup and then discuss two continuous-discrete observation laws for the distributed estimation of the robot positions. We show that a suitable model exploiting the onboard IMU measurements of the robots, enables obtaining an estimation error that is a cascade of two linear systems, for which we can show global exponential convergence to zero. The results are illustrated by our experimental tests.
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