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Exploration Of State Estimation
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Book Synopsis Exploration of State Estimation by : Guillaume Goffaux
Download or read book Exploration of State Estimation written by Guillaume Goffaux and published by LAP Lambert Academic Publishing. This book was released on 2010-05 with total page 388 pages. Available in PDF, EPUB and Kindle. Book excerpt: State estimation plays a key role in the knowledge of characteristic variables of a system. By combining information from hardware sensor measurements and mathematical models, it improves the knowledge of the relevant variables used for advanced control or monitoring strategies. Moreover, a lot of state estimation techniques exist and try to improve accuracy despite uncertainties. In this context, this work provides an overview of useful state estimation techniques and gives extensions with robustness to uncertainties as objective. Two application fields are investigated with their own objectives in terms of safety and accuracy : safe vehicle positioning and bioprocesses. This book is divided into three parts. The first part introduces state estimation and describes popular techniques as Kalman filter and moving-horizon filter. Recent methods are also introduced like particle filtering or interval estimation. The next two parts are dedicated to the applications and the developed extensions. This book has a tutorial objective and can be dedicated to engineers in Automatic Control or to all who look for an advanced introduction to the state space exploration.
Book Synopsis State Estimation, Planning, and Behavior Selection Under Uncertainty for Autonomous Robotic Exploration in Dynamic Environments by : Georgios Lidoris
Download or read book State Estimation, Planning, and Behavior Selection Under Uncertainty for Autonomous Robotic Exploration in Dynamic Environments written by Georgios Lidoris and published by kassel university press GmbH. This book was released on 2011 with total page 169 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis State Estimation for Robotics by : Timothy D. Barfoot
Download or read book State Estimation for Robotics written by Timothy D. Barfoot and published by Cambridge University Press. This book was released on 2017-07-31 with total page 381 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern look at state estimation, targeted at students and practitioners of robotics, with emphasis on three-dimensional applications.
Book Synopsis State Estimation and Control for Low-cost Unmanned Aerial Vehicles by : Chingiz Hajiyev
Download or read book State Estimation and Control for Low-cost Unmanned Aerial Vehicles written by Chingiz Hajiyev and published by Springer. This book was released on 2015-06-10 with total page 239 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses state estimation and control procedures for a low-cost unmanned aerial vehicle (UAV). The authors consider the use of robust adaptive Kalman filter algorithms and demonstrate their advantages over the optimal Kalman filter in the context of the difficult and varied environments in which UAVs may be employed. Fault detection and isolation (FDI) and data fusion for UAV air-data systems are also investigated, and control algorithms, including the classical, optimal, and fuzzy controllers, are given for the UAV. The performance of different control methods is investigated and the results compared. State Estimation and Control of Low-Cost Unmanned Aerial Vehicles covers all the important issues for designing a guidance, navigation and control (GNC) system of a low-cost UAV. It proposes significant new approaches that can be exploited by GNC system designers in the future and also reviews the current literature. The state estimation, control and FDI methods are illustrated by examples and MATLAB® simulations. State Estimation and Control of Low-Cost Unmanned Aerial Vehicles will be of interest to both researchers in academia and professional engineers in the aerospace industry. Graduate students may also find it useful, and some sections are suitable for an undergraduate readership.
Book Synopsis Experiences on Use of State Estimator in Power System Operations by : Veera Raju Vinnakota
Download or read book Experiences on Use of State Estimator in Power System Operations written by Veera Raju Vinnakota and published by Springer Nature. This book was released on with total page 626 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Modelling and State Estimation of Exploration Rovers by : Qingfeng Lou
Download or read book Modelling and State Estimation of Exploration Rovers written by Qingfeng Lou and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: "State estimation is an important element in rover exploration missions. The objective of state estimation is to determine the pose and velocity of the rover by processing measurements from onboard sensors. It usually includes fusing measurement data from different types of sensors. Wheel encoders represent one of the fundamental categories of sensors used for estimation.The so-called classical wheel odometry is widely used in various rover applications. It estimates the rover state by tracking the motions of the two middle wheels in the differential drive based on the related wheel encoders. However, this technique has certain limitations. First, it does not employ redundant measurements. As a consequence, input noise can lead to large uncertainties in the estimated results. Second, it contains a nonlinear estimation model because of the trigonometric functions of the rover orientation. The linearization process that propagates the mean and covariance of the estimated state introduces additional errors. More importantly, it cannot detect the wheel slip and accumulates large estimated errors for rover travelling on soft terrain.The objective of this thesis is to investigate how state estimation can be improved by combining wheel encoder measurements with kinematics, dynamics, and terramechanics modelling. Kinematic and dynamic models are developed in the thesis for a range of rover maneuvres. The interaction between the wheels and soft terrain is also modelled and analyzed employing terramechanics models. A procedure for online soil parameter identification is proposed based on the sensitivity analysis of the terrain traction forces with respect to the variations of the soil parameters.Three state estimation techniques at different levels are developed.The first one is kinematics-based estimation. An estimation model using the Kalman Filter approach is established based on the kinematic model of the rover that relates the velocity of the chassis to the motion all wheels.The chassis velocity components with respect to the chassis-fixed coordinate system are selected as system state variables. The encoder measurements from all wheels are fused together to provide redundant measurements. The longitudinal and lateral types of slip of all wheels are modelled as random Gaussian noise. The continuous-time Kalman Filter is employed to process the estimation model and measured data.The second technique proposed is dynamics-based estimation. The rover dynamics and terramechanics are combined to represent the relations between the rover motion and wheel/terrain interaction forces. The variables of the chassis velocity, wheel velocity, wheel slip, motor torque, and terrain reaction forces can be determined using the measurements from wheel encoders and the combined dynamic and terramechanics model.The third method developed puts forward a framework that integrates the previous two techniques. The accuracy of estimation is generally related to how well the slip under the wheels can be determined. A new decomposition of wheel slip is proposed here to conflicting and compatible slip components. This decomposition takes into account the rover kinematics that represents the geometric constraints among the wheels. These two slip components can then be considered separately using the two techniques described above. The state of the rover considering the conflicting slip component can be estimated using the kinematics-based technique and the compatible slip component can be solved for using the dynamics-based technique. This resulting combined method provides the best solution. The proposed estimation techniques were investigated and validated by experiments employing two rover prototypes"--
Book Synopsis State Estimation for Robotics by : Timothy D. Barfoot
Download or read book State Estimation for Robotics written by Timothy D. Barfoot and published by Cambridge University Press. This book was released on 2017-07-31 with total page 381 pages. Available in PDF, EPUB and Kindle. Book excerpt: A key aspect of robotics today is estimating the state, such as position and orientation, of a robot as it moves through the world. Most robots and autonomous vehicles depend on noisy data from sensors such as cameras or laser rangefinders to navigate in a three-dimensional world. This book presents common sensor models and practical advice on how to carry out state estimation for rotations and other state variables. It covers both classical state estimation methods such as the Kalman filter, as well as important modern topics such as batch estimation, the Bayes filter, sigmapoint and particle filters, robust estimation for outlier rejection, and continuous-time trajectory estimation and its connection to Gaussian-process regression. The methods are demonstrated in the context of important applications such as point-cloud alignment, pose-graph relaxation, bundle adjustment, and simultaneous localization and mapping. Students and practitioners of robotics alike will find this a valuable resource.
Book Synopsis State Estimation for Robotics by : Timothy D. Barfoot
Download or read book State Estimation for Robotics written by Timothy D. Barfoot and published by Cambridge University Press. This book was released on 2024-01-31 with total page 531 pages. Available in PDF, EPUB and Kindle. Book excerpt: This modern look at state estimation now covers variational inference, adaptive covariance estimation, and inertial navigation.
Book Synopsis State Estimation for Nonlinear Continuous–Discrete Stochastic Systems by : Gennady Yu. Kulikov
Download or read book State Estimation for Nonlinear Continuous–Discrete Stochastic Systems written by Gennady Yu. Kulikov and published by Springer Nature. This book was released on with total page 813 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Homography-based State Estimation for Autonomous Exploration in Unknown Environments by : Andres Steven Chavez Armijos
Download or read book Homography-based State Estimation for Autonomous Exploration in Unknown Environments written by Andres Steven Chavez Armijos and published by . This book was released on 2018 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents the development of vision-based state estimation algorithms to enable a quadcopter UAV to navigate and explore a previously unknown GPS denied environment. These state estimation algorithms are based on tracked Speeded-Up Robust Features (SURF) points and the homography relationship that relates the camera motion to the locations of tracked planar feature points in the image plane. An extended Kalman filter implementation is developed to perform sensor fusion using measurements from an onboard inertial measurement unit (accelerometers and rate gyros) with vision-based measurements derived from the homography relationship. Therefore, the measurement update in the filter requires the processing of images from a monocular camera to detect and track planar feature points followed by the computation of homography parameters. The state estimation algorithms are designed to be independent of GPS since GPS can be unreliable or unavailable in many operational environments of interest such as urban environments. The state estimation algorithms are implemented using simulated data from a quadcopter UAV and then tested using post processed video and IMU data from flights of an autonomous quadcopter. The homography-based state estimation algorithm was effective, but accumulates drift errors over time due to the relativistic homography measurement of position.
Book Synopsis Cognitive Systems by : Henrik Christensen
Download or read book Cognitive Systems written by Henrik Christensen and published by Springer Science & Business Media. This book was released on 2010-04-05 with total page 494 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design of cognitive systems for assistance to people poses a major challenge to the fields of robotics and artificial intelligence. The Cognitive Systems for Cognitive Assistance (CoSy) project was organized to address the issues of i) theoretical progress on design of cognitive systems ii) methods for implementation of systems and iii) empirical studies to further understand the use and interaction with such systems. To study, design and deploy cognitive systems there is a need to considers aspects of systems design, embodiment, perception, planning and error recovery, spatial insertion, knowledge acquisition and machine learning, dialog design and human robot interaction and systems integration. The CoSy project addressed all of these aspects over a period of four years and across two different domains of application – exploration of space and task / knowledge acquisition for manipulation. The present volume documents the results of the CoSy project. The CoSy project was funded by the European Commission as part of the Cognitive Systems Program within the 6th Framework Program.
Book Synopsis Advances in State Estimation, Diagnosis and Control of Complex Systems by : Ye Wang
Download or read book Advances in State Estimation, Diagnosis and Control of Complex Systems written by Ye Wang and published by Springer Nature. This book was released on 2020-07-30 with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents theoretical and practical findings on the state estimation, diagnosis and control of complex systems, especially in the mathematical form of descriptor systems. The research is fully motivated by real-world applications (i.e., Barcelona’s water distribution network), which require control systems capable of taking into account their specific features and the limits of operations in the presence of uncertainties stemming from modeling errors and component malfunctions. Accordingly, the book first introduces a complete set-based framework for explicitly describing the effects of uncertainties in the descriptor systems discussed. In turn, this set-based framework is used for state estimation and diagnosis. The book also presents a number of application results on economic model predictive control from actual water distribution networks and smart grids. Moreover, the book introduces a fault-tolerant control strategy based on virtual actuators and sensors for such systems in the descriptor form.
Book Synopsis System Identification by : Pieter Eykhoff
Download or read book System Identification written by Pieter Eykhoff and published by . This book was released on 1979 with total page 555 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Optimal and Robust State Estimation by : Yuriy S. Shmaliy
Download or read book Optimal and Robust State Estimation written by Yuriy S. Shmaliy and published by John Wiley & Sons. This book was released on 2022-08-02 with total page 484 pages. Available in PDF, EPUB and Kindle. Book excerpt: A unified and systematic theoretical framework for solving problems related to finite impulse response (FIR) estimate Optimal and Robust State Estimation: Finite Impulse Response (FIR) and Kalman Approaches is a comprehensive investigation into batch state estimators and recursive forms. The work begins by introducing the reader to the state estimation approach and provides a brief historical overview. Next, the work discusses the specific properties of finite impulse response (FIR) state estimators. Further chapters give the basics of probability and stochastic processes, discuss the available linear and nonlinear state estimators, deal with optimal FIR filtering, and consider a limited memory batch and recursive algorithms. Other topics covered include solving the q-lag FIR smoothing problem, introducing the receding horizon (RH) FIR state estimation approach, and developing the theory of FIR state estimation under disturbances. The book closes by discussing the theory of FIR state estimation for uncertain systems and providing several applications where the FIR state estimators are used effectively. Key concepts covered in the work include: A holistic overview of the state estimation approach, which arose from the need to know the internal state of a real system, given that the input and output are both known Optimal, optimal unbiased, maximum likelihood, and unbiased and robust finite impulse response (FIR) structures FIR state estimation approach along with the infinite impulse response (IIR) and Kalman approaches Cost functions and the most critical properties of FIR and IIR state estimates Optimal and Robust State Estimation: Finite Impulse Response (FIR) and Kalman Approaches was written for professionals in the fields of microwave engineering, system engineering, and robotics who wish to move towards solving finite impulse response (FIR) estimate issues in both theoretical and practical applications. Graduate and senior undergraduate students with coursework dealing with state estimation will also be able to use the book to gain a valuable foundation of knowledge and become more adept in their chosen fields of study.
Book Synopsis Power System State Estimation by : Ali Abur
Download or read book Power System State Estimation written by Ali Abur and published by CRC Press. This book was released on 2004-03-24 with total page 350 pages. Available in PDF, EPUB and Kindle. Book excerpt: Offering an up-to-date account of the strategies utilized in state estimation of electric power systems, this text provides a broad overview of power system operation and the role of state estimation in overall energy management. It uses an abundance of examples, models, tables, and guidelines to clearly examine new aspects of state estimation, the testing of network observability, and methods to assure computational efficiency. Includes numerous tutorial examples that fully analyze problems posed by the inclusion of current measurements in existing state estimators and illustrate practical solutions to these challenges. Written by two expert researchers in the field, Power System State Estimation extensively details topics never before covered in depth in any other text, including novel robust state estimation methods, estimation of parameter and topology errors, and the use of ampere measurements for state estimation. It introduces various methods and computational issues involved in the formulation and implementation of the weighted least squares (WLS) approach, presents statistical tests for the detection and identification of bad data in system measurements, and reveals alternative topological and numerical formulations for the network observability problem.
Book Synopsis State Estimation for Dynamic Systems by : Felix L. Chernousko
Download or read book State Estimation for Dynamic Systems written by Felix L. Chernousko and published by CRC Press. This book was released on 1993-11-09 with total page 322 pages. Available in PDF, EPUB and Kindle. Book excerpt: State Estimation for Dynamic Systems presents the state of the art in this field and discusses a new method of state estimation. The method makes it possible to obtain optimal two-sided ellipsoidal bounds for reachable sets of linear and nonlinear control systems with discrete and continuous time. The practical stability of dynamic systems subjected to disturbances can be analyzed, and two-sided estimates in optimal control and differential games can be obtained. The method described in the book also permits guaranteed state estimation (filtering) for dynamic systems in the presence of external disturbances and observation errors. Numerical algorithms for state estimation and optimal control, as well as a number of applications and examples, are presented. The book will be an excellent reference for researchers and engineers working in applied mathematics, control theory, and system analysis. It will also appeal to pure and applied mathematicians, control engineers, and computer programmers.
Book Synopsis High-level Estimation and Exploration of Reliability for Multi-Processor System-on-Chip by : Zheng Wang
Download or read book High-level Estimation and Exploration of Reliability for Multi-Processor System-on-Chip written by Zheng Wang and published by Springer. This book was released on 2017-06-23 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces a novel framework for accurately modeling the errors in nanoscale CMOS technology and developing a smooth tool flow at high-level design abstractions to estimate and mitigate the effects of errors. The book presents novel techniques for high-level fault simulation and reliability estimation as well as architecture-level and system-level fault tolerant designs. It also presents a survey of state-of-the-art problems and solutions, offering insights into reliability issues in digital design and their cross-layer countermeasures.
