Event-Triggered Pose Estimation of a Unicycle Mobile Robot
Denis V. Efimov, Shiyu Liu, Khalili, Mata · HAL (Le Centre pour la Communication Scientifique Directe) · 2025
This work introduces an event-triggered method for data exchange between sensors and a localization system for pose estimation, optimizing both sensor data transmission and the delivery of pose information to the control unit of an autonomous unicycle mobile robot. The proposed approach guarantees a desired quality of pose estimation under constrained computational or communication resources, which is critical for maintaining the safety, stability, and performance of the robot. The effectiveness of the proposed method was validated through implementation on a physical testbed in a real-world environment.