Haumann, Dominik ; Löffler, Maximilian ; Willert, Volker (2012)
Distributed Kalman Filtering for Noisy Consensus Networks with Time Delays.
IEEE 9th International Conference on Mobile Ad hoc and Sensor Systems (MASS). Las Vegas, Nevada, USA (08.10.2012-11.10.2012)
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
This work focuses on consensus networks consisting of a group of mobile agents in the presence of noise and time delays. Due to noise, exact consensus is never reached. Hence, we propose fully distributed and local Kalman filters that filter only a subset of all system states while maintaining a filter quality close to a global Kalman filter. Feasibility is guaranteed by communicating measurements through the network, introducing time delays. The overall system stability is analyzed. Simulations demonstrate the performance of the proposed distributed filters.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2012 |
| Autor(en): | Haumann, Dominik ; Löffler, Maximilian ; Willert, Volker |
| Art des Eintrags: | Bibliographie |
| Titel: | Distributed Kalman Filtering for Noisy Consensus Networks with Time Delays |
| Sprache: | Englisch |
| Publikationsjahr: | 8 Oktober 2012 |
| Buchtitel: | Proc. of the IEEE 9th International Conference on Mobile Ad hoc and Sensor Systems (MASS) |
| Veranstaltungstitel: | IEEE 9th International Conference on Mobile Ad hoc and Sensor Systems (MASS) |
| Veranstaltungsort: | Las Vegas, Nevada, USA |
| Veranstaltungsdatum: | 08.10.2012-11.10.2012 |
| Kurzbeschreibung (Abstract): | This work focuses on consensus networks consisting of a group of mobile agents in the presence of noise and time delays. Due to noise, exact consensus is never reached. Hence, we propose fully distributed and local Kalman filters that filter only a subset of all system states while maintaining a filter quality close to a global Kalman filter. Feasibility is guaranteed by communicating measurements through the network, introducing time delays. The overall system stability is analyzed. Simulations demonstrate the performance of the proposed distributed filters. |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Robotik (ab 01.08.2022 umbenannt in Regelungsmethoden und Intelligente Systeme) |
| Hinterlegungsdatum: | 17 Okt 2012 13:48 |
| Letzte Änderung: | 05 Mär 2013 10:03 |
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