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Continuous-Discrete High-Gain Extended Kalman Filter for Mobile Robots with Asynchronous Outputs

This paper details the implementation of an asynchronous high-gain Kalman filter on a mobile robot test platform on a path reconstruction problem. The observer algorithm, which was theoretically studied in a previous paper, is tailored to fit the problem at hand. Two path reconstruction experiments are carried out, using respectively a predefined trajectory and a joystick controlled trajectory. The estimation results are presented after offline processing. They show that our algorithm can be applied with success in the field of mobile robot navigation in the presence of asynchronous measurements.