Estimation and control for a modular wheeled mobile robot

IEEE Transactions on Control Systems Technology

Volumn 8, Issue 1, 2000, Pages 35-46

  Mutambara, Arthur G O ^a,b   Durrant Whyte, Hugh F ^a,c  

^a IEEE

^b FAMU FSU COLLEGE OF ENGINEERING   (United States)

^c UNIVERSITY OF SYDNEY   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; DECENTRALIZED CONTROL; ESTIMATION; KINEMATICS; MATHEMATICAL MODELS; PROBLEM SOLVING; SENSOR DATA FUSION; TRANSPUTERS;

DECENTRALIZED ESTIMATION; DISTRIBUTED MULTIPLE SENSOR; INFORMATION FILTER; MODULAR WHEELED MOBILE ROBOT; NONLINEAR SENSOR MODEL;

MOBILE ROBOTS;

EID: 0033909160     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/87.817690     Document Type: Article

References (20)

1. T. Berg and H. F. Durrant-Whyte, "Model distribution in decentralized multisensor fusion," in Proc. Amer. Contr. Conf., 1991, pp. 2292-2294.
2. A. G. O. Mutambara, Decentralized Estimation and Control for Multisensor Systems. Boca Raton, FL: CRC, 1998.
3. J. Abidi and S. Gonzalez, Data Fusion in Robotics and Machine Intelligence. New York: Academic, 1992.
4. J. M. Richardson and K. A. Marsh, "Fusion of multisensor data," Int. J. Robot. Res., vol. 7, no. 6, pp. 78-96, 1988.
5. R. McKendall and M. Mintz, "Data fusion techniques using robust statistics," in Data Fusion in Robotics and Machine Intelligence. New York: Academic, 1992, pp. 211-244.
6. Y. Bar-Shalom and X. Li, Multitarget-Multisensor Tracking. San Diego, CA: YBS, 1995.
7. J. K. Aggarwal, Multisensor Fusion for Computer Vision, ser. NATO ASI Series. New York: Springer-Verlag, 1993.
8. D. D. Siljak, Decentralized Control of Complex Systems. New York: Academic, 1991.
9. N. R. Sandell, P. Varaiya, M. Athans, and M. G. Safonov, "Survey of decentralized control methods for large scale systems," IEEE Trans. Automat. Contr., vol. 23, no. 2, pp. 108-128, 1978.
10. C. Chong, S. Mori, and K. Chan, "Distributed multitarget multisensor tracking," in Multitarget Multisensor Tracking, Y. Bar-Shalom, Ed. Boston, MA: Artech House, 1990.
11. H. R. Hashemipour, S. Roy, and A. J. Laub, "Decentralized structures for parallel Kalman filtering,"IEEE Trans. Automat. Contr., vol. 33, no. 1, pp. 88-93, 1988.
12. J. L. Speyer, "Communication and transmission requirements for a decentralized linear-quadratic-Gaussian control problem," IEEE Trans. Automat. Contr., vol. 24, no. 2, pp. 266-269, 1979.
13. Y. Bar-Shalom and X. Li, Estimation and Tracking. Boston, MA: Artech House, 1993.
14. P. S. Maybeck, Stochastic Models, Estimation and Control. New York: Academic, 1979, vol. I.
15. K. C. Chang and Y. Bar-Shalom, "Distributed adaptive estimation with probabilistic data association," Automatica, vol. 25, no. 3, pp. 359-369, 1989.
16. _, "Distributed multiple model estimation," in Proc. Amer. Contr. Conf., 1987, pp. 866-869.
17. P. S. Maybeck, Stochastic Models, Estimation, and Control. New York: Academic, 1982, vol. 3.
18. J. C. Alexander and J. H. Maddocks, On the Kinematics of Wheeled Mobile Robots. New York: Springer-Verlag, 1988.
19. T. P. Burke, "Design of a wheeled modular robot," Ph.D. dissertation, Oxford Univ., Oxford, U.K., 1994.
20. A. G. O. Mutambara and H. F. Durrant-Whyte, "Nonlinear information space: A practical basis for decentralization," in SPIE's Int. Symp. Photonics Ind. Applicat., Sensor Fusion VII, vol. 10, 1994, 2355, pp. 84-95.