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RLS-based sensor fusion algorithm for mobile robot localization on finite precision embedded systems

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4 Author(s)
Mumolo, E. ; Univ. of Trieste, Trieste ; Nolich, M. ; Codognotto, A. ; Vercelli, G.

In this paper a novel sensor fusion algorithm suited for embedded systems is presented. The algorithm is based on Fast-RLS and is able to operate in a finite precision computational environment; the proposed algorithm is capable of maintaining its stability in a wide range of operative conditions as shown in the simulation tests. Simulated results are included.

Published in:

Multisensor Fusion and Integration for Intelligent Systems, 2008. MFI 2008. IEEE International Conference on

Date of Conference:

20-22 Aug. 2008