Discrete State Estimators for a Class of Hybrid Systems on a Lattice

In this paper we consider the problem of estimating discrete variables in a class of hybrid systems where we assume that the continuous variables are available for measurement. Using lattice and order theory we develop a framework for constructing a discrete state estimator on an enlarged space of variables with lattice structure, which updates only two variables at each step. We apply our ideas to a multi-robot system example, the RoboFlag Drill.

• Type: Conference
• Year: 2004
• Where: HYBRID
• Authors: Domitilla Del Vecchio, Richard M. Murray
• Keywords: Continuous Variables, Discrete State Estimator, Discrete Variables, HYBRID 2004, Hybrid Systems