[Show abstract][Hide abstract] ABSTRACT: This paper relates preliminary results concerning the solution of inverse problems arising in electric sense based navigation. This sense is used by electric fishes to move in dark waters using the electric current measurements perceived by the epidermal sensors as these are affected by the presence of obstacles. The latter change the resulting induced measures by instantaneously disturbing the fish self-produced electric field. The approach lies on a recently proposed graphical signature based classification methodology to overcome the computational burden associated to an explicit inversion of the mathematical equations. A preliminary validation of the proposed solution is obtained using a dedicated experimental setting.
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on; 01/2011
[Show abstract][Hide abstract] ABSTRACT: This paper proposes a novel approach that may help reducing the computational burden when using the Nonlinear Moving-Horizon Observer/ Estimator (MHE) technique. This technique is often used to reconstruct unmeasured quantities of a dynamic system. The latter may include both the state and the vector of parameters that are involved in the system model. The proposed approach is based on the use of partial explicit inversion maps that express a part of the problem unknowns as a function of the remaining ones. The Moving-Horizon Estimators can therefore concentrate on the latter reduced dimensional unknown vector. The paper shows how explicit inversion maps can be derived based on a recently developed graphical-signature-based technique. Two illustrative examples are proposed to show the efficiency of the proposed solution.