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Robust and Optimal Sensor Fusion

\bibliographystyle{IEEEtran}

Abstract   ignore

Abstract text to be done

Keywords   ignore

Complementary Filters, Sensor Fusion, H-Infinity Synthesis

Introduction

<<sec:introduction>>

Optimal Super Sensor Noise: $\mathcal{H}_2$ Synthesis

<<sec:optimal_fusion>>

Sensor Fusion Architecture

/tdehaeze/dehaeze20_optim_robus_compl_filte/src/commit/a125091d7b6ce6cdab2813091777a2eab4ced285/paper/figs/sensor_fusion_noise_arch.pdf

Super Sensor Noise

$\mathcal{H}_2$ Synthesis of Complementary Filters

/tdehaeze/dehaeze20_optim_robus_compl_filte/src/commit/a125091d7b6ce6cdab2813091777a2eab4ced285/paper/figs/h_two_optimal_fusion.pdf

Example

Robustness Problem

Robust Sensor Fusion: $\mathcal{H}_\infty$ Synthesis

<<sec:robust_fusion>>

Representation of Sensor Dynamical Uncertainty

/tdehaeze/dehaeze20_optim_robus_compl_filte/src/commit/a125091d7b6ce6cdab2813091777a2eab4ced285/paper/figs/sensor_fusion_arch_uncertainty.pdf

Super Sensor Dynamical Uncertainty

/tdehaeze/dehaeze20_optim_robus_compl_filte/src/commit/a125091d7b6ce6cdab2813091777a2eab4ced285/paper/figs/uncertainty_set_super_sensor.pdf

$\mathcal{H_\infty}$ Synthesis of Complementary Filters

/tdehaeze/dehaeze20_optim_robus_compl_filte/src/commit/a125091d7b6ce6cdab2813091777a2eab4ced285/paper/figs/h_infinity_robust_fusion.pdf

Example

Optimal and Robust Sensor Fusion: Mixed $\mathcal{H}_2/\mathcal{H}_\infty$ Synthesis

<<sec:optimal_robust_fusion>>

Sensor Fusion Architecture

/tdehaeze/dehaeze20_optim_robus_compl_filte/src/commit/a125091d7b6ce6cdab2813091777a2eab4ced285/paper/figs/sensor_fusion_arch_full.pdf

Synthesis Objective

Mixed $\mathcal{H}_2/\mathcal{H}_\infty$ Synthesis

/tdehaeze/dehaeze20_optim_robus_compl_filte/src/commit/a125091d7b6ce6cdab2813091777a2eab4ced285/paper/figs/mixed_h2_hinf_synthesis.pdf

Example

Experimental Validation

<<sec:experimental_validation>>

Experimental Setup

Sensor Noise and Dynamical Uncertainty

Mixed $\mathcal{H}_2/\mathcal{H}_\infty$ Synthesis

Super Sensor Noise and Dynamical Uncertainty

Conclusion

<<sec:conclusion>>

Acknowledgment

Bibliography   ignore

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