CDS 110b: Nonlinear Estimation
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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.
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.