Abstract:The knowledge of the states of a vehicle is a necessity to perform proper planning and control. These quantities are usually accessible through measurements. Control theory brings extremely useful methods -observers -to deal with quantities that cannot be directly measured or with noisy measurements. Classical observers are mathematically derived from models. In spite of their success, such as the Kalman filter, they show their limits when systems display high non-linearities, modeling errors, high uncertainti… Show more
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