A switched systems approach to vision-based localization of a target with intermittent measurements

Anup Parikh; Teng-Hu Cheng; Warren E. Dixon

doi:10.1109/ACC.2015.7172028

A switched systems approach to vision-based localization of a target with intermittent measurements

Anup Parikh, Teng-Hu Cheng, Warren E. Dixon

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

Switched systems theory is used to analyze the stability of vision-based observers for 3D localization of objects in a scene. Observers or filters that are exponentially stable under persistent observability may have unbounded error growth under intermittent sensing loss, even while providing seemingly accurate state estimates. Therefore, conditions are developed based on an average dwell time criteria to guarantee state error convergence with a known decay rate. In cases where sensing is controllable, these conditions relax path constraints for visual servoing applications. The conditions are developed in a general form, applicable to any exponentially stable observer, and utilize object motion knowledge to maximize the allowable time spent in stabilizable, but unobservable, periods.

Original language	English
Title of host publication	ACC 2015 - 2015 American Control Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4443-4448
Number of pages	6
ISBN (Electronic)	9781479986842
DOIs	https://doi.org/10.1109/ACC.2015.7172028
State	Published - 28 Jul 2015
Event	2015 American Control Conference, ACC 2015 - Chicago, United States Duration: 1 Jul 2015 → 3 Jul 2015

Publication series

Name	Proceedings of the American Control Conference
Volume	2015-July
ISSN (Print)	0743-1619

Conference

Conference	2015 American Control Conference, ACC 2015
Country/Territory	United States
City	Chicago
Period	1/07/15 → 3/07/15

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10.1109/ACC.2015.7172028

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Parikh, A., Cheng, T.-H., & Dixon, W. E. (2015). A switched systems approach to vision-based localization of a target with intermittent measurements. In ACC 2015 - 2015 American Control Conference (pp. 4443-4448). Article 7172028 (Proceedings of the American Control Conference; Vol. 2015-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2015.7172028

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title = "A switched systems approach to vision-based localization of a target with intermittent measurements",

abstract = "Switched systems theory is used to analyze the stability of vision-based observers for 3D localization of objects in a scene. Observers or filters that are exponentially stable under persistent observability may have unbounded error growth under intermittent sensing loss, even while providing seemingly accurate state estimates. Therefore, conditions are developed based on an average dwell time criteria to guarantee state error convergence with a known decay rate. In cases where sensing is controllable, these conditions relax path constraints for visual servoing applications. The conditions are developed in a general form, applicable to any exponentially stable observer, and utilize object motion knowledge to maximize the allowable time spent in stabilizable, but unobservable, periods.",

author = "Anup Parikh and Teng-Hu Cheng and Dixon, {Warren E.}",

year = "2015",

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doi = "10.1109/ACC.2015.7172028",

language = "English",

series = "Proceedings of the American Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Parikh, A, Cheng, T-H & Dixon, WE 2015, A switched systems approach to vision-based localization of a target with intermittent measurements. in ACC 2015 - 2015 American Control Conference., 7172028, Proceedings of the American Control Conference, vol. 2015-July, Institute of Electrical and Electronics Engineers Inc., pp. 4443-4448, 2015 American Control Conference, ACC 2015, Chicago, United States, 1/07/15. https://doi.org/10.1109/ACC.2015.7172028

A switched systems approach to vision-based localization of a target with intermittent measurements. / Parikh, Anup; Cheng, Teng-Hu; Dixon, Warren E.
ACC 2015 - 2015 American Control Conference. Institute of Electrical and Electronics Engineers Inc., 2015. p. 4443-4448 7172028 (Proceedings of the American Control Conference; Vol. 2015-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - Switched systems theory is used to analyze the stability of vision-based observers for 3D localization of objects in a scene. Observers or filters that are exponentially stable under persistent observability may have unbounded error growth under intermittent sensing loss, even while providing seemingly accurate state estimates. Therefore, conditions are developed based on an average dwell time criteria to guarantee state error convergence with a known decay rate. In cases where sensing is controllable, these conditions relax path constraints for visual servoing applications. The conditions are developed in a general form, applicable to any exponentially stable observer, and utilize object motion knowledge to maximize the allowable time spent in stabilizable, but unobservable, periods.

AB - Switched systems theory is used to analyze the stability of vision-based observers for 3D localization of objects in a scene. Observers or filters that are exponentially stable under persistent observability may have unbounded error growth under intermittent sensing loss, even while providing seemingly accurate state estimates. Therefore, conditions are developed based on an average dwell time criteria to guarantee state error convergence with a known decay rate. In cases where sensing is controllable, these conditions relax path constraints for visual servoing applications. The conditions are developed in a general form, applicable to any exponentially stable observer, and utilize object motion knowledge to maximize the allowable time spent in stabilizable, but unobservable, periods.

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PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 1 July 2015 through 3 July 2015

ER -

A switched systems approach to vision-based localization of a target with intermittent measurements

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