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2. A modular architecture for mobile robots equipped with continuous-discrete observers

Author

Luca Zaccarian, Philipp Braun, Gian Marco Vinco, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Research School of Electrical, Energy, and Materials Engineering, Australian National University, Canberra, Australian National University (ANU), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), and Braun, Philipp

Subjects
0209 industrial biotechnology, Computer science, Real-time computing, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], [MATH.MATH-DS] Mathematics [math]/Dynamical Systems [math.DS], 02 engineering and technology, Computer Science::Robotics, Set (abstract data type), 020901 industrial engineering & automation, Software, Inertial measurement unit, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Software system, Autonomous mobile robots, business.industry, 020208 electrical & electronic engineering, Linear system, Mobile robot, Modular design, Hybrid Systems, Controller Hardware/Software, Nonlinear estimation, Robot, business, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract

International audience; We illustrate the design and development of amodular hardware/software system for multiple unicycle-likemobile robots localized via a set of camera modules. We describethe architecture and calibration of the hardware/software setupand then discuss two continuous-discrete observation laws forthe distributed estimation of the robot positions. We show thata suitable model exploiting the onboard IMU measurementsof the robots, enables obtaining an estimation error that is acascade of two linear systems, for which we can show globalexponential convergence to zero. The results are illustrated byour experimental tests.

Published
2021

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