Proceedings ArticleDOI
Nonlinear information space: a practical basis for decentralization
Arthur G. O. Mutambara,Hugh Durrant-Whyte +1 more
- Vol. 2355, pp 97-105
TLDR
The Nonlinear Information Filter derived from the Extended Kalman Filter is decentralized and distributed, to give the Distributed and Decentralized Non linear Information.Abstract:
In this paper the Nonlinear Information Filter is derived from the Extended Kalman Filter. A nonlinear system is considered. Linearizing the state and observation equations, a linear estimator which keeps track of total state estimates is conceived; the Extended Kalman Filter. The linearized parameters and filter equations are expressed in information space. This gives a filter that predicts and estimates information about nonlinear state parameters given nonlinear observations and nonlinear system dynamics. The Nonlinear Information Filter derivation is contrasted to that of the Linear Information filter. Pitfalls of a naive extension of the later to the former are thus identified. Furthermore, the Nonlinear Information filter is decentralized and distributed, to give the Distributed and Decentralized Nonlinear Information. Application is real decentralized data fusion and distributed control is proposed. Specifically, realtime distributed/decentralized control of a navigating, modular wheeled robot is considered.read more
Citations
More filters
Information-Theoretic Control of Multiple Sensor Platforms
TL;DR: This thesis focuses on the problem of coordination and cooperation for teams of autonomous systems engaged in information gathering and data fusion tasks, and builds on the established principles and architecture previously developed for decentralised data fusion systems.
Journal ArticleDOI
Estimation and control for a modular wheeled mobile robot
TL;DR: The problem of fully decentralized data fusion and control for a modular wheeled mobile robot (WMR) is addressed, a vehicle system with nonlinear kinematics, distributed multiple sensors, and nonlinear sensor models by deriving a modular, decentralized kinematic model.
Dissertation
Decentralised Architectures for tracking and navigation with multiple flight vehicles
TL;DR: Exact solutions to the delayed and asequent data problems are developed for the information form of the Kalman filter that enable operation of DDF algorithms in a broad range of real sensor networks.
References
More filters
Book
Sensor models and multisensor integration
TL;DR: This work describes a technique for modeling sensors and the information they provide, and shows how this mechanism can be used to manipulate, communi cate, and integrate uncertain sensor observations.
Proceedings ArticleDOI
Distributed decentralized robot control
TL;DR: This paper proposes a control distribution technique in fully decentralized systems by distributing the state models, observation space and control vectors in an information filter based, decentralized control configuration that is a flexible, robust, parallel, scalable and globally optimal control network.
Related Papers (5)
Stability of consensus extended Kalman filter for distributed state estimation
Giorgio Battistelli,Luigi Chisci +1 more