A modular architecture for mobile robots equipped with continuous-discrete observers

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dc.contributor.authorVinco, Gian Marcoen
dc.contributor.authorBraun, Philippen
dc.contributor.authorZaccarian, Lucaen
dc.date.accessioned2025-06-24T02:35:48Z
dc.date.available2025-06-24T02:35:48Z
dc.date.issued2021-03-07en
dc.description.abstractAhstract-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.en
dc.description.sponsorshipResearch supported in part by ANR via grant HANDY, number ANR-18CE40-0010, and by the University of Trento, under the international student mobility grant. The research was conducted while P. Braun was with the University of Newcastle, Australia, and while G.M. Vinco was visiting the University of Newcastle, Australia.en
dc.description.statusPeer-revieweden
dc.identifier.isbn9781728144429en
dc.identifier.scopus85104143549en
dc.identifier.urihttp://www.scopus.com/inward/record.url?scp=85104143549&partnerID=8YFLogxKen
dc.identifier.urihttps://hdl.handle.net/1885/733764636
dc.language.isoenen
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en
dc.relation.ispartof2021 IEEE International Conference on Mechatronics, ICM 2021en
dc.relation.ispartofseries2021 IEEE International Conference on Mechatronics, ICM 2021en
dc.rightsPublisher Copyright: © 2021 IEEE.en
dc.subjectAutonomous mobile robotsen
dc.subjectController Hardware/Softwareen
dc.subjectHybrid Systemsen
dc.subjectNonlinear estimationen
dc.titleA modular architecture for mobile robots equipped with continuous-discrete observersen
dc.typeConference paperen
dspace.entity.typePublicationen
local.contributor.affiliationVinco, Gian Marco; University of Trentoen
local.contributor.affiliationBraun, Philipp; School of Engineering, ANU College of Systems and Society, The Australian National Universityen
local.contributor.affiliationZaccarian, Luca; University of Trentoen
local.identifier.ariespublicationa383154xPUB19123en
local.identifier.doi10.1109/ICM46511.2021.9385612en
local.identifier.pured365721a-21be-44b0-9aea-0a6bd1e830dcen
local.identifier.urlhttps://www.scopus.com/pages/publications/85104143549en
local.type.statusPublisheden

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