Discrete state estimators for a class of hybrid systems on a lattice

Abstract

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. © Springer-Verlag 2004.