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Multisensor fusion for linear control systems with asynchronous, Out-Of-Sequence and erroneous data

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Besada Portas, Eva and López Orozco, José Antonio and Besada, Juan and Cruz García, Jesús Manuel de la (2012) Multisensor fusion for linear control systems with asynchronous, Out-Of-Sequence and erroneous data. Automatica, 47 (7). pp. 2487-2518. ISSN 0005-1098

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Abstract

This paper presents a state of the art of the estimation algorithms dealing with Out-of-Sequence (OOS) measurements for non-linearly modeled systems. The state of the art includes a critical analysis of the algorithm properties that takes into account the applicability of these techniques to autonomous mobile robot navigation based on the fusion of the measurements provided, delayed and OOS, by multiple sensors. Besides, it shows a representative example of the use of one of the most computationally efficient approaches in the localization module of the control software of a real robot (which has non-linear dynamics, and linear and non-linear sensors) and compares its performance against other approaches. The simulated results obtained with the selected OOS algorithm shows the computational requirements that each sensor of the robot imposes to it. The real experiments show how the inclusion of the selected OOS algorithm in the control software lets the robot successfully navigate in spite of receiving many OOS measurements. Finally, the comparison highlights that not only is the selected OOS algorithm among the best performing ones of the comparison, but it also has the lowest computational and memory cost.


Item Type:Article
Additional Information:

This work has been supported by the Spanish Grants DPI2009-14552-C02-01 and CAM S-0505/DPI 0391.

Uncontrolled Keywords:Tracking, Update
Subjects:Sciences > Computer science > Programming languages (Electronic computers)
ID Code:21297
Deposited On:11 Sep 2014 09:19
Last Modified:11 Sep 2014 09:19

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