This paper describes a relative localization system used to achieve the navigation of a convoy of robotic units in indoor environments. This positioning system is carried out fusing two sensorial sources: (a) an odometric system and (b) a laser scanner together with artificial landmarks located on top of the units. The laser source allows one to compensate the cumulative error inherent to dead-reckoning; whereas the odometry source provides less pose uncertainty in short trajectories. A discrete Extended Kalman Filter, customized for this application, is used in order to accomplish this aim under real time constraints. Different experimental results with a convoy of Pioneer P3-DX units tracking non-linear trajectories are shown. The paper shows that a simple setup based on low cost laser range systems and robot built-in odometry sensors is able to give a high degree of robustness and accuracy to the relative localization problem of convoy units for indoor applications.

Energy storage systems play a key role in the rise of distributed power generation systems, hence there is great interest in extending their lifetimes, which are directly related to DC current ripple. One of the ripple sources is the low-frequency active power fluctuations under unbalanced and distorted grid voltage conditions. Therefore, this paper addresses a multifrequency control strategy where the harmonic reference currents are calculated to reduce harmonic active power oscillations. The stationary reference frame (StRF) approach taken here improves the precision and computational time of the current reference calculation method. Additionally, in order to ensure safe converter operation when a multifrequency reference current is provided, a computational efficient peak current saturator is applied while avoiding signal distortion every time step. If the injected current harmonic distortion is to be minimized, which is a feature included in this work, the peak current saturator is a necessary requirement. Active power ripple is reduced even with frequency variations in the grid voltage using a well-known frequency-adaptive scheme. The simulation and experimental results prove the optimized performance for the control objective: power ripple reduction with minimum current harmonic distortion.