Pré-Publication, Document De Travail (Preprint/Prepublication) Année : 2024

Constrained Zonotope-based localization of mobile agents with uncertain observation times

Résumé

This paper presents an extended set-membership state estimator based on constrained zonotopes, addressing the practical challenge of uncertain asynchronous observation arrival times, including timing errors. Additionally, the proposed estimator accounts for parametric uncertainty in the observation equation and incorporates multiple state propagation models. The filter provides valid state enclosures despite observation time uncertainty, which is a critical feature for real-world applications. To demonstrate its effectiveness, we present an academic problem simulating a real-world application. Performance comparisons with existing nonlinear estimation algorithms, including the ellipsoidal set state estimator, Iteration Estimation Set Membership Filter (IESMF), the set inversion algorithm (SIVIA), and the classic Extended Kalman Filter (EKF), highlight the superior efficiency and performance improvements of the proposed approach.

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Dates et versions

hal-04845892 , version 1 (18-12-2024)

Identifiants

  • HAL Id : hal-04845892 , version 1

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Rafael Accácio Nogueira, Soheib Fergani, Jan Bolting. Constrained Zonotope-based localization of mobile agents with uncertain observation times. 2024. ⟨hal-04845892⟩
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