Trimpe, Sebastian Dept. Autonomous Motion, Max Planck Institute for Intelligent Systems, Max Planck Society;
Link (Any fulltext)
Trimpe, S., & D'Andrea, R. (2014). Event-Based State Estimation With Variance-Based Triggering. IEEE Transactions on Automatic Control, 59(12), 3266-3281. doi:10.1109/TAC.2014.2351951.