@inproceedings{d365721a21be44b09aea0a6bd1e830dc,
title = "A modular architecture for mobile robots equipped with continuous-discrete observers",
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.",
keywords = "Autonomous mobile robots, Controller Hardware/Software, Hybrid Systems, Nonlinear estimation",
author = "Vinco, {Gian Marco} and Philipp Braun and Luca Zaccarian",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE International Conference on Mechatronics, ICM 2021 ; Conference date: 07-03-2021 Through 09-03-2021",
year = "2021",
month = mar,
day = "7",
doi = "10.1109/ICM46511.2021.9385612",
language = "English",
series = "2021 IEEE International Conference on Mechatronics, ICM 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2021 IEEE International Conference on Mechatronics, ICM 2021",
address = "United States",
}