The unicycle in presence of a single disturbance: observability properties (Q6567504)

The paper under review treats the observability properties of mobile robot that moves on a planar surface by unicycle dynamics and that is equipped with exteroceptive sensors. The motion is powered by two independent controls, which are the linear and the angular speed, respectively and it is assumed that the both speeds are known. It is considered the case when the robot motion is affected by a disturbance that produces an additional robot speed along a fixed direction. The goal of the paper is to obtain the observability properties of the state that characterizes the robot configuration. According to the author's claim, the novel moment of the observability analysis is that, it is taken into account the presence of an unknown and time dependent disturbance.\N\NFor the entire collection see [Zbl 1466.93008].