Decentralised Data Fusion with Delayed States for Consistent Inference in Mobile Ad Hoc Networks
نویسندگان
چکیده
Delayed-state decentralised data fusion (DS-DDF) is proposed as a general methodology for consistent DDF, which does not impose constraints on network topology. The resulting estimates, although lagged in time, are optimal, equal to a centralised solution. The method is demonstrated in the context of dynamic node tracking and localisation, where a team of mobile robots track each other’s position to obtain a joint estimate of the position of every team member.
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