Funding Reference Memorandum of Understanding between the ISR/IST and the NPS. Research work supported by NATO scholarships and institutional funding for travel and accommodations
Dates 1996|2001

This research program aims at introducing new methodologies for the design of navigation systems for autonomous robotic vehicles to meet stringent stability and performance requirements.

1) Using simple kinematics relationships, the problem of estimating the velocity and position of an autonomous vehicle can be solved by resorting to special bilinear time-varying filters. These are the natural generalization of linear time-invariant complementary filters that are commonly used to properly merge sensor information available at low frequency with that available in the complementary region. Complementary filters lend themselves to frequency domain interpretations that provide valuable insight into the filter design process. The main purpose of the research program initiated is to extend those properties to the time-varying setting by resorting to the theory of linear differential inclusions and by converting the problem of weighted filter performance analysis into that of determining the feasibility of a related set of linear matrix inequalities. Using this set-up, the stability of the resulting filters as well as their “frequency-like” performance characteristics may be assessed using efficient numerical tools that borrow from convex optimization theory. Applications are being made to the design of navigation systems for air and underwater vehicles.

2) The problem of estimating the position and velocity of an autonomous vehicle by relying on inertial and vision sensors has received considerable attention over the past few years. Classical solutions rely on the use of Extended Kalman Filters. However, the resulting filters lack performance and stability guarantees. The main objective of the research effort undertaken in the course of this project is the extension of complementary filtering to a full non-linear setting by resorting to the theory of linear parametrically varying systems. The resulting filters are stable and exhibit a structure that exploits the complementarity of vision and inertial sensor data at low and high frequencies, respectively. Applications are being made to the design of navigation systems for air vehicles for automatic landing on aircraft carriers.

Research Groups Dynamical Systems and Ocean Robotics Lab (DSOR)
Project Partners Dept. Aeronautics and Astronautics, Naval Postgraduate School, Monterey, California
ISR/IST Responsible
António Pascoal
[1] I. Kaminer, W. Kang, O. Yakimenko, António Pascoal, Applications of Nonlinear Filtering to Navigation System Design Using Passive Sensors, IEEE Transactions Aerospace and Electronic Systems , Vol. 37, N0. 1, pp. 158-172, 2001
[2] J. Hespanha, O. Yakimenko, I. Kaminer, António Pascoal, Stability and Performance Analysis of LPV Systems with Brief Instabilities, Proc. 9th Mediterranean Conference on Control and Automation, Dubrovnik, Croatia, 2001
[3] J. Hespanha, O. Yakimenko, I. Kaminer, António Pascoal, Linear Parametrically Varying Systems with Brief Instabilities: an Application to Integrated Vision / IMU Navigation, Proc. 40th IEEE Conference on Decision and Control, Orlando, Florida, 2001
[4] Paulo Oliveira, António Pascoal, Periodic and Multirate Filter Design using LMIs, DSORL-ISR Technical Report. To be submitted for publication, 2001
[5] Paulo Oliveira, Periodic and Non-Linear Estimators with Applications to the Navigation of Ocean Vehicles, Ph.D. Thesis, Instituto Superior Tecnico, Portugal, 2002 - PDF
[6] Hongfei Gong, Agostinho Rosa, Simulation of Olive Fly Development Using Artificial Life Technic, In “Computational Intelligence and Control”. M Mohammadian (Edt), 2001
[7] Paulo Oliveira, António Pascoal, I. Kaminer, A Nonlinear Vision Based Tracking System for Coordinated Control of Marine Vehicles, Proc. 15th IFAC World Congress, Barcelona, Spain, 2002 - PDF
[8] Rita Cunha, Carlos Silvestre, António Pascoal, Path Following Controller for an Autonomous Helicopter, Proc. MED2002 Conference, Lisbon, Portugal, 2002