Publication: Multisensor fusion for linear control systems with asynchronous, Out-Of-Sequence and erroneous data
Loading...
Full text at PDC
Publication Date
2012-03
Authors
Advisors (or tutors)
Editors
Journal Title
Journal ISSN
Volume Title
Publisher
Pergamon-Elsevier Science LTD
Citations
Exportar
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.
Description
This work has been supported by the Spanish Grants DPI2009-14552-C02-01 and CAM S-0505/DPI 0391.
UCM subjects
Unesco subjects
Keywords
Citation
Anxi, Y., Diannong, L., Weidong, H., & Zhen, D. (2005). A unified out-of-sequence measurements filter. In Proc. of the 2005 IEEE international radar conference, May(pp. 453–458).
Bar-Shalom, Y. (2002). Update with out of sequence measurements in tracking: exact solution. IEEE Transactions on Aerospace and Electronics Systems, 38(3),769–778.
Bar-Shalom, Y., Mallick, M., Chen, H., & Washburn, R (2004). One step solution for the general out of sequence measurement problem in tracking. IEEE Transactions on Aerospace and Electronics Systems, 40(1), 27–37.
Besada-Portas, E. (2004). Fusion Multisensorial de medidas temporalmente desordenadas: aplicacion a robots autonomos mobiles. Ph.D. thesis. Universidad Complutense Madrid.
Besada-Portas, E., Lopez-Orozco, J. A., Besada, J., & de la Cruz, J. M. (2009). Multisensor out of sequence data fusion for estimating the state of discrete control systems. IEEE Transactions on Automatic Control, 54(7), 1728–1732.
Besada-Portas, E., Lopez-Orozco, J. A., & de la Cruz, J. M. (2007). Multisensor outof-sequence data fusion for estimating the state of dynamic systems. In Proc. of information, decision and control (IDC 2007), February (pp. 348–353).
Challa, S., Evans, R. J., Wang, X., & Leggy, J. (2002). A fixed lag-smoothing solution to out-of-sequence information fusion problems. Communication in Information Systems, 2(4), 325–348.
Cowell, R., Dawid, P., Lauritzen, S., & Spiegelhalter, D. (1999). Networks and expert systems. Springer.
Feng, X., Ge, Q., & Wen, C. (2008). Optimal update with one step out-of-sequence measurements for wireless multisensor network. In International conference on wavelet analysis and pattern recognition, Vol. 2, August (pp. 826–831).
Fukunaga, K. (1990). Introduction to statistical pattern recognition. Academic Press.
Hall, D. L. (1992). Mathematical techniques in multisensor data fusion. Artech House.
Hespanha, J. P., Naghhtabrizi, P., & Xu, Y. (2007). A survey of recent results in networked control systems. In Proc. of IEEE, Vol. 95, January.
Hilton, R. D., Martin, D. A., & Blair, W. D. (1993). Tracking with time-delayed data in multisensor systems. In AD-A355269, August.
Ito, M., Tsujimichi, S., & Kosuge, Y. (1998). Target tracking with time-delayed data in multiple radar system. In Proc. of the 37th SICE annual conference. International session papers, July.
Johnson, R. A, & Wichern, D. W. (1998). Applied multivariate statistical analysis. Prentice Hall.
Kosaka, A., Meng, M., & Kak, A. C. (1993). Vision-guided mobile robot navigation using retroactive updating of position uncertainty. In Proc. of the 1993 IEEE international conference on robotics and automation, Vol. 2, May (pp. 1–7).
Lanzkron, P. J., & Bar-Shalom, Y. (2004). A two-step method for out-of-sequence measurements. In Proc. of 2004 IEEE aerospace conference, Vol. 3, March.
Lauritzen, S. L. (1992). Propagation of probabilities, means and variances in mixed graphical models. Journal of the American Statistical Association, 87, 1098–1108.
Lopez-Orozco, J. A., de la Cruz, J. M., Besada, E., & Rupiezed, P. (2000). An asynchronous robust and distributed multisensor fusion system for mobile robots. The International Journal of Robotics Research, 19(10), 914–932.
Lu, X., Zhang, H., Wang, W., & Teo, K. L. (2005). Kalman filtering for multiple time delay measurements. Automatica, 41(8), 1455–1461.
Mallick, M., Coraluppi, S., & Carthel, C. (2001). Advances in asynchronous and decentralized estimation. In Proc. of IEEE aerospace conference, March (pp. 1873–1888).
Matveev, A., & Savkin, A. V. (2003). The problem of state estimation via asynchronous channels with irregular transmission times. IEEE Transactions on Automatic Control, 48(4), 670–676.
Murphy, K. P. (1998). Filtering, smoothing and the junction tree algorithm. Technical report. Universidad de California at Berkeley, Department of CS.
Mutambara, G. O. (1998). Decentralized estimation and control for multisensor fusion. CRC Press LLC.
Nettleton, E. W., & Durrant-Whyte, H. (2001). Delayed and asequent data in decentralized sensing networks. In Proc. of SPIE conf. n 4571 (pp. 1–9).
Rheaume, F., & Benaskeur, A. R. (2008). Forward prediction-based approach to target-tracking with out-of-sequence measurements. In 47th IEEE conference on decision and control, December (pp. 1326–1333).
Shen, X., Zhu, Y., Song, E., & Luo, Y. (2009). Optimal centralized update with multiple local out-of-sequence measurements. IEEE Transactions on Signal Processing, 57(4), 1551–1562.
Sinopoli, B., Schenato, L., Franceschetti, M., Poolla, K., Jordan, M. I., & Sastry, S. S. (2004). Kalman filtering with intermittent observations. IEEE Transactions on Automatic Control, 49(9), 1453–1464.
WenHui, Z., Lin, L., GuoHai, C., & AnXi, Y. (2006). Optimal updater with multistep out of sequence measurements in target tracking. In Proc. of the 8th international conf. on signal processing, Vol. 4 (pp. 281–284).
Zhang, K., Li, X. R., & Chen, Y. (2002). Optimal update with out of sequence measurements for distributed filtering. In Proc. of 5th international conference of information fusion (pp. 1519–1526).
Zhang, K., Li, X., & Chen, Y. (2003). Multi-sensor multi-tracking with out-ofsequence measurements. In Proc. of ISIF 2003 (pp. 672–679).
Zhang, K., Li, X. R., & Zhu, Y. (2005). Optimal update with out-of-sequence measurements. IEEE Transactions on Signal Processing, 53(June), 1992–2004.
Zhang, H., Xie, L., Zhang, D., & Soh, Y. C. (2004). A reorganized innovation approach to linear estimation. IEEE Transactions on Automatic Control, 49(10), 1810–1814.