Title :
On Distributed and Decentralized Estimation
Author :
Berg, T.M. ; Durrant-Whyte, H.F.
Author_Institution :
Robotics Research Group, Department of Engieering Science, Oxford University, Oxford, UK, OX1 3PJ
Abstract :
This paper presents the information form of the decentralized and distributed Kalman filter. Use of the Information filter allows straightforward fusion of new observations. The minimal communication of information between reduced order, globally optimal fusion centers is explained using a transformation diagram.
Keywords :
Covariance matrix; Equations; Error correction; Information filters; Kalman filters; Noise measurement; Noise reduction; Robot kinematics; Robustness; State estimation;
Conference_Titel :
American Control Conference, 1992
Conference_Location :
Chicago, IL, USA
Print_ISBN :
0-7803-0210-9
