网络机器人系统在随机延迟和丢包下的定位
Localization of networked robot systems subject to random delay and packet loss
AI总结：
本文针对通信延迟和丢包影响下的移动机器人定位问题，提出统一的状态空间表示法和最优线性估计器，通过相关因子整合延迟测量，验证了方法在仿真和真实机器人系统中的有效性。
摘要：
本文针对移动机器人在通信延迟和丢包下的定位问题，构建了统一的状态空间表示法以描述混合不确定性。基于该表示法，开发了最优线性估计器，通过相关因子整合延迟测量以提高估计精度。该估计器进一步扩展至非线性系统。在MATLAB仿真和真实机器人系统实验中验证了该方法的性能，良好的定位结果证明了其在网络化移动机器人定位中的有效性。
英文摘要：
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space representation is constructed to describe these mixed uncertainties. Based on it, the optimal linear estimator is developed. The main idea is the derivation of a relevance factor to incorporate delayed measurements to the being estimate. The estimator is then extended for nonlinear systems. The performance of this method is tested within the simulations in MATLAB and the experiments in a real robot system. The good localization results prove the efficiency of the method for the purpose of localization of networked mobile robot.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
