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Distributed Kalman Filtering for Noisy Consensus Networks with Time Delays

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.-11. Oct 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.-11. Oct 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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