DocumentCode
490010
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
fYear
1992
fDate
24-26 June 1992
Firstpage
3304
Lastpage
3306
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1992
Conference_Location
Chicago, IL, USA
Print_ISBN
0-7803-0210-9
Type
conf
Filename
4792762
Link To Document