Hybrid Estimation

Program Description

This program develops a novel approach for hybrid estimation for applications envisioned in hybrid systems research. Three areas of hybrid estimation research are developed, with an integrated evaluation process using known examples and real time testbeds. First, a bounded probability hybrid estimator is developed, where multiple continuous estimators, each at a different level of probability, are implemented in parallel. The system (user or hybrid controller) can switch estimators to the level of probability desired. Level sets are used to define each probability level, and relate it back to the original probability density function. Second, connections between hybrid estimation and control and planning are made, with a specific focus on switching hybrid vehicle control, including transition of bounded model uncertainties. Third, a computational infrastructure for the hybrid estimators is developed, including real time implementations. Theoretical work is systematically validated using simple, known examples first, followed by more complex examples that can be numerically evaluated, to ultimately a real time, embedded hybrid systems evaluation on a Cornell testbed.

This work is expected to advance hybrid systems theory by enabling a general class hybrid theory (such as control and planning) to be implemented in a realistic setting. The hybrid estimator allows a level of probability (such as risk) to be “dialed up.” While vehicle control and planning are used as motivation, the hybrid estimator is developed to allow general implementation for hybrid systems, from biological to air traffic control systems.

Sponsor

National Science Foundation

Staff and Students

Publications

• P. Otanez, M. Campbell, “Bounded Estimator Switching in Uncertain Hybrid Systems,” accepted and to appear in the IEEE Transactions on Control Systems Technology.
• P. Otanez, M. Campbell, “Hybrid Cooperative Reconnaissance Without Communication,” Conference on Decision and Control, Dec 2005.
• J. Sullivan, M. Campbell, and H. Lipson, “Particle Filters as Exploration Tools for Autonomous Rovers,” AIAA Guidance, Navigation and Control Conference, Aug 2005.
• P. Otanez, M. Campbell, “Mode Estimation Using Perturbation Signatures for Hybrid Multi-Vehicle Systems,” AIAA Guidance, Navigation and Control Conference, Aug 2005.
• P. Otanez, and M. Campbell, “Bounded Model Switching in Uncertain Hybrid Systems,” 2004 American Control Conference, June 2004.