Probabilistic Set-Membership State Estimator

Part of the Mathematical Engineering book series (MATHENGIN, volume 3)


Interval constraint propagation methods have been shown to be efficient, robust and reliable to solve difficult nonlinear bounded-error state estimation problems. However they are considered as unsuitable in a probabilistic context, where the approximation of a probability density function by a set cannot be accepted as reliable. This paper proposes a new probabilistic approach which makes it possible to use classical set-membership observers which are robust with respect to outliers. The approach is illustrated on a localization of robots in situations where there exist a large number of outliers.


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© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  1. 1.ENSIETA, OSM, Lab-STICCBrestFrance

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