Observers for a Class of Hybrid Systems on a Lattice

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Domitilla Del Vecchio and Richard M. Murray
Lecture Notes in Computer Science, 2993:311-325

In this paper we consider the problem of estimating discrete variables in a class of hybrid systems where we assume that the continuous variables are available for measurement. Using lattice and order theory we develop a framework for constructing an observer on an enlarged space of variables with lattice structure, which updates only two variables at each step. We apply our ideas to a multi-robot system example, the RoboFlag Drill.