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Navigation System for Ground Vehicles using Temporally Interconnected Observers

Abstract : In this paper, we propose an analysis of a recently introduced navigation technique for an automotive vehicle. This method involves several observers, each designed for a particular type of trajectory, that are turned on and off according to a switching policy. Each observer takes advantage on the observability properties found along these trajectories. The contribution of this paper is an analysis of the convergence properties of the resulting temporal interconnection of observers. In details, decay rate estimates of each of the observers, arising from their uniform complete observability properties, are used to guarantee convergence of the constituted navigation system.
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https://hal-mines-paristech.archives-ouvertes.fr/hal-00617903
Contributor : François Chaplais <>
Submitted on : Tuesday, August 30, 2011 - 6:11:30 PM
Last modification on : Thursday, September 24, 2020 - 5:04:18 PM

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  • HAL Id : hal-00617903, version 1

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Pierre-Jean Bristeau, Nicolas Petit. Navigation System for Ground Vehicles using Temporally Interconnected Observers. 2011 American Control Conference, Jul 2011, San Francisco, United States. pp.1260-1267. ⟨hal-00617903⟩

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