Active nonlinear observers for mobile systems

For nonlinear systems in general, the observability does not only depend on the initial conditions, but also on the control. This presents an interesting issue: how to design an observer together with the exciting control. In this paper a subproblem in the so called SLAM problem - the relocalization problem is studied, namely, observing the state of a mobile system based on distance sensor readings. An observer is proposed for a car-like robotic system.