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Finally, based on the bearing-only observations, the unscented Kalman filter (UKF) is employed for the state estimation of the leader and the follower robots at all levels, which enables the real-time and stable movement control of the follower robots via the input-output feedback control.
Van Der Merwe, "The unscented Kalman filter for nonlinear estimation," in Proceedings of the IEEE Adaptive Systems for Signal Processing, Communications, and Control Symposium (AS-SPCC '00), pp.
In , an unscented Kalman filter for the pseudo-measurement update stage was proposed.
It is well known that unscented Kalman filter (UKF) is broadly used to handle generalized nonlinear process and measurement models.