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Discrete State Estimators for Systems on a Lattice

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Domitilla Del Vecchio, Richard M. Murray, Erik Klavins

To appear*, Automatica*, 2006

We address the problem of estimating discrete variables in a class of deterministic
transition systems where the continuous variables are available for measurement. This
simplified scenario has practical interest, for example, in the case of decentralized multi-robot
systems. In these systems, the continuous variables represent physical quantities such as the
position and velocity of a robot, while discrete variables may represent the state of the logical
system that is used for control and coordination. We propose a novel approach to the
estimation of discrete variables using basic lattice theory that overcomes some of the severe
complexity issues encountered in previous work. We show how to construct the proposed
estimator for a multi-robot system performing a cooperative assignment task.

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Richard Murray
(murray@cds. caltech.edu)