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This paper describes a technique for using robust linear estimation on nonlinear systems. This technique provides a means for linearizing the nonlinear system in such a way as to not limit the large signal behavior of the target system. The nonlinearity in the target system must be able to be represented as a piecewise linear function. Furthermore, the H2 and Hinfin robust estimation techniques will...
In this paper we address the problem of applying particle filtering to complex systems. In general, we consider complex systems as ones with nonlinearities and high dimensionality of the state space. We examine strategies for filtering where the state space is partitioned into subspaces and where each subspace is explored by its own particle filter. These particle filters are interconnected and communicate...
In many mobile robot application, navigation is a critical issues. This paper deals with the localization and building problem in an unknown indoor environment. We propose an exploration based on the use of the sensorial data provided by one CCD camera and odometer system. In this paper, the first part of our study is linked to the problem of Vehicle Model and the algorithm model. The second part...
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