Distributed Sensor Fusion Using Dynamic Consensus
Demetri P. Spanos and Richard M. Murray
2005 IFAC World Congress
This work is an extension to a companion paper describing
consensus-tracking for networked agents, and shows how those
results can be applied to obtain least-squares fused estimates
based on spatially distributed measurements. This mechanism is
very robust to changes in the underlying network topology and
performance, making it an interesting candidate for sensor fusion
on autonomous mobile networks. We conclude with an example of a
preliminary application to distributed Kalman Filtering using the
proposed technique, illustrating the dependence of the performance
on the structure of the underlying network.
Conference Paper
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Richard Murray
(murray@cds. caltech.edu)