Observing a Unicycle Robot with Data Rate ...
Document type :
Communication dans un congrès avec actes
Title :
Observing a Unicycle Robot with Data Rate Constraints: a Case Study
Author(s) :
Voortman, Quentin [Auteur]
Finite-time control and estimation for distributed systems [VALSE]
Efimov, Denis [Auteur]
Finite-time control and estimation for distributed systems [VALSE]
Pogromsky, Alexander [Auteur]
Eindhoven University of Technology [Eindhoven] [TU/e]
Silm, Haik [Auteur]
Department of Computer Science - K.U.Leuven
Richard, Jean-Pierre [Auteur]
Centrale Lille
Nijmeijer, Henk [Auteur]
Eindhoven University of Technology [Eindhoven] [TU/e]
Finite-time control and estimation for distributed systems [VALSE]
Efimov, Denis [Auteur]

Finite-time control and estimation for distributed systems [VALSE]
Pogromsky, Alexander [Auteur]
Eindhoven University of Technology [Eindhoven] [TU/e]
Silm, Haik [Auteur]
Department of Computer Science - K.U.Leuven
Richard, Jean-Pierre [Auteur]

Centrale Lille
Nijmeijer, Henk [Auteur]
Eindhoven University of Technology [Eindhoven] [TU/e]
Conference title :
Proc. 60th IEEE Conference on Decision and Control (CDC)
City :
Austin
Country :
Etats-Unis d'Amérique
Start date of the conference :
2021-12-13
HAL domain(s) :
Sciences de l'ingénieur [physics]/Automatique / Robotique
English abstract : [en]
In this paper, we consider the problem of remote observation of a unicycle-type mobile robot through a data rate constrained communication channel, which can only send a limited number of bits per unit of time. The objective ...
Show more >In this paper, we consider the problem of remote observation of a unicycle-type mobile robot through a data rate constrained communication channel, which can only send a limited number of bits per unit of time. The objective is to reconstruct estimates of the state of the robot at the remote location through the messages that are sent. The design of the communication protocol should ensure that the maximum observation error is bounded whilst using as few bits per unit of time as possible. An event-triggered observation scheme is developed specifically for the unicycle-type robot. This observer is tested through experiments on Turtlebots. The experiments show that the event-triggered scheme is very efficient at reducing the average number of required communications.Show less >
Show more >In this paper, we consider the problem of remote observation of a unicycle-type mobile robot through a data rate constrained communication channel, which can only send a limited number of bits per unit of time. The objective is to reconstruct estimates of the state of the robot at the remote location through the messages that are sent. The design of the communication protocol should ensure that the maximum observation error is bounded whilst using as few bits per unit of time as possible. An event-triggered observation scheme is developed specifically for the unicycle-type robot. This observer is tested through experiments on Turtlebots. The experiments show that the event-triggered scheme is very efficient at reducing the average number of required communications.Show less >
Language :
Anglais
Peer reviewed article :
Oui
Audience :
Internationale
Popular science :
Non
Collections :
Source :
Files
- https://hal.inria.fr/hal-03439154/document
- Open access
- Access the document
- https://hal.inria.fr/hal-03439154/document
- Open access
- Access the document
- https://hal.inria.fr/hal-03439154/document
- Open access
- Access the document
- document
- Open access
- Access the document
- CDC21_Quentin.pdf
- Open access
- Access the document