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.
A modular architecture for mobile robots equipped with continuous-discrete observers / Vinco, G. M.; Braun, P.; Zaccarian, L.. - (2021), pp. 1-6. (Intervento presentato al convegno 2021 IEEE International Conference on Mechatronics, ICM 2021 tenutosi a jpn nel 2021) [10.1109/ICM46511.2021.9385612].
A modular architecture for mobile robots equipped with continuous-discrete observers
Zaccarian L.
2021-01-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione
