%0 Conference Paper
%B Proc. IEEE Int. Conf. on Robotics and Automation
%D 2001
%T Optimal exploratory paths for a mobile rover
%A F. Lorussi
%A A. Marigo
%A A. Bicchi
%K Autonomous Vehicles
%K Localization and Mapping
%K Sensors and Observers
%B Proc. IEEE Int. Conf. on Robotics and Automation
%P 2078-2083
%G eng
%0 Conference Paper
%B Proc. WAC Int. Symp. on Robotics and Applications
%D 2000
%T Localization Of Vehicles By Sensory Information
%A A. Bicchi
%A F. Conticelli
%A D Prattichizzo
%K Autonomous Vehicles
%K Localization and Mapping
%K Nonlinear Control Systems
%K Sensors
%B Proc. WAC Int. Symp. on Robotics and Applications
%P 68-73
%8 June
%G eng
%0 Conference Paper
%B IFAC Int. Symp. on Robot Control, SyRoCo 2000
%D 2000
%T Observability and nonlinear observers for mobile robot localization
%A F. Conticelli
%A A. Bicchi
%A A. Balestrino
%K Autonomous Vehicles
%K Localization and Mapping
%K Sensors and Observers
%B IFAC Int. Symp. on Robot Control, SyRoCo 2000
%G eng
%0 Book Section
%B Nonlinear Control in the Year 2000
%D 2000
%T Observer Design for Locally Observable Analytic Systems: Convergence, Separation Property, and Redundancy
%A F. Conticelli
%A A. Bicchi
%E A. Isidori
%E F. F. Lamnabhi-Lagarrigue
%E W. Respondek
%K Localization and Mapping
%K Nonlinear Control Systems
%B Nonlinear Control in the Year 2000
%S LNCIS
%I Springer-Verlag
%C Berlin Heidelberg, Germany
%V 258
%P 315-330
%G eng
%0 Conference Paper
%B Proc. IEEE Mediterranean Conf. On Control And Systems
%D 1998
%T On the observability of mobile vehicles localization
%A A. Bicchi
%A D Prattichizzo
%A A. Marigo
%A A. Balestrino
%K Autonomous Vehicles
%K Localization and Mapping
%K Sensors and Observers
%X In this paper, we consider the problem of localizing a mobile vehicle moving in an unstructured environment, based on triangulation measurements derived from processed optical information. The problem is shown to be intrinsically nonlinear, in the sense that the linear approximation of the system has different structural properties than the original model. In particular, linearized approximations are nonâ€“observable, while results obtained from differentialâ€“geometric nonlinear system theory prove the possibility of reconstructing the position and orientation of the vehicle and the position of the obstacles in the environment from optical information.

%B Proc. IEEE Mediterranean Conf. On Control And Systems
%G eng