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Distributed Kalman Filtering for Noisy Consensus Networks with Time Delays

Haumann, Dominik and Löffler, Maximilian and Willert, Volker (2012):
Distributed Kalman Filtering for Noisy Consensus Networks with Time Delays.
In: Proc. of the IEEE 9th International Conference on Mobile Ad hoc and Sensor Systems (MASS), In: IEEE 9th International Conference on Mobile Ad hoc and Sensor Systems (MASS), Las Vegas, Nevada, USA, 08.-11. Oct 2012, [Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2012
Creators: Haumann, Dominik and Löffler, Maximilian and Willert, Volker
Title: Distributed Kalman Filtering for Noisy Consensus Networks with Time Delays
Language: English
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.

Title of Book: Proc. of the IEEE 9th International Conference on Mobile Ad hoc and Sensor Systems (MASS)
Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics
Event Title: IEEE 9th International Conference on Mobile Ad hoc and Sensor Systems (MASS)
Event Location: Las Vegas, Nevada, USA
Event Dates: 08.-11. Oct 2012
Date Deposited: 17 Oct 2012 13:48
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