An observer cascade for velocity and multiple line estimation
André Mateus,Pedro U. Lima,Pedro Miraldo,André Mateus,Pedro U. Lima,Pedro Miraldo
Previous incremental estimation methods consider estimating a single line, requiring as many observers as the number of lines to be mapped. This leads to the need for having at least 4N state variables, with N being the number of lines. This paper presents the first approach for multi-line incremental estimation. Since lines are common in structured environments, we aim to exploit that structure t...
