CDS 110b: Nonlinear Estimation

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CDS 110b

Schedule

Project

FAQ

Reading

An important emerging application of state estimation is to problems in which nonlinear dynamics and non-Gaussian noise are present. We briefly summarize some of the techniques for "nonlinear" estimation and provide examples of applications of this work.

Course Materials

• Monday lecture presentation (MP3)

References and Further Reading

• Alice: An Information-Rich Autonomous Vehicle for High-Speed Desert Navigation, Cremean et al. Journal of Field Robotics, 2006. This article provides an overview of Alice's architecture and operation.

• Constrained State Estimation for Nonlinear Discrete-Time Systems: Stability and Moving Horizon Approximations, C.V. Rao, J.B. Rawlings, and D.Q. Mayne, IEEE Transactions on Automatic Control, vol.48, no.2, 2003.

• CDS 270-2 (Networked Control Systems) page on Moving Horizon Estimation