Cooperative Least Square Parameter Identification by Consensus within the Network of Autonomous Vehicles

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dc.contributor.authorMehdi, Jalalmaab
dc.contributor.authorMohammad, Pirani
dc.contributor.authorFidan, Baris
dc.contributor.authorJeon, Soo
dc.date.accessioned2018-01-25T20:26:16Z
dc.date.available2018-01-25T20:26:16Z
dc.date.issued2016-04-05
dc.descriptionauthors' post-printen
dc.description.abstractIn this paper, a consensus framework for cooperative parameter estimation within the vehicular network is presented. It is assumed that each vehicle is equipped with a dedicated short range communication (DSRC) device and connected to other vehicles. The improvement achieved by the consensus for parameter estimation in presence of sensor’s noise is studied, and the effects of network nodes and edges on the consensus performance is discussed. Finally, the simulation results of the introduced cooperative estimation algorithm for estimation of the unknown parameter of road condition is presented. It is shown that due to the faster dynamic of network communication, single agents’ estimation converges to the least square approximation of the unknown parameter properly.en
dc.description.sponsorshipNatural Sciences and Engineering Research Council || CRDPJ/431233-12 Nuvation Engineering, Waterloo, ON, Canadaen
dc.identifier.issn1946-3995
dc.identifier.urihttps://dx.doi.org/10.4271/2016-01-0149
dc.identifier.urihttp://hdl.handle.net/10012/12962
dc.language.isoenen
dc.publisherSAE Internationalen
dc.subjectautonomous vehiclesen
dc.subjectparameter estimationen
dc.subjectroad frictionen
dc.titleCooperative Least Square Parameter Identification by Consensus within the Network of Autonomous Vehiclesen
dc.typeArticleen
dcterms.bibliographicCitationJalalmaab, M., Pirani, M., Fidan, B., and Jeon, S., "Cooperative Least Square Parameter Identification by Consensus within the Network of Autonomous Vehicles," SAE Int. J. Passeng. Cars – Electron. Electr. Syst. 9(2):255-261, 2016.en
uws.contributor.affiliation1Faculty of Engineeringen
uws.contributor.affiliation2Mechanical and Mechatronics Engineeringen
uws.peerReviewStatusRevieweden
uws.scholarLevelFacultyen
uws.typeOfResourceTexten

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