Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury

Radio Nodes Path Problem Framework Start Stop

The Extended Information Filter State and Covariance Prediction Information Vector, Covariance and Measurement Information Update Reverting to original form for state and covariance update Data can be asynchronous, grid may not be fully connected E. Nettleton, H. Durrant-Whyte, P. Gibbens, and A. Goktoˇgan. Multiple platform localisation and map building. In G.T. McKee and P.S. Schenker, editors, Sensor Fusion and Decentralised Control in Robotic Stystems III, volume 4196, pages 337–347, Bellingham, 2000.

The Extended Information Filter State and Covariance Prediction Information Vector, Covariance and Measurement Information Update Reverting to original form for state and covariance update Data can be asynchronous, grid may not be fully connected E. Nettleton, H. Durrant-Whyte, P. Gibbens, and A. Goktoˇgan. Multiple platform localisation and map building. In G.T. McKee and P.S. Schenker, editors, Sensor Fusion and Decentralised Control in Robotic Stystems III, volume 4196, pages 337–347, Bellingham, 2000.

The Extended Information Filter State and Covariance Prediction Information Vector, Covariance and Measurement Information Update Reverting to original form for state and covariance update Data can be asynchronous, grid may not be fully connected E. Nettleton, H. Durrant-Whyte, P. Gibbens, and A. Goktoˇgan. Multiple platform localisation and map building. In G.T. McKee and P.S. Schenker, editors, Sensor Fusion and Decentralised Control in Robotic Stystems III, volume 4196, pages 337–347, Bellingham, 2000.

The Extended Information Filter State and Covariance Prediction Information Vector, Covariance and Measurement Information Update Reverting to original form for state and covariance update Data can be asynchronous, grid may not be fully connected E. Nettleton, H. Durrant-Whyte, P. Gibbens, and A. Goktoˇgan. Multiple platform localisation and map building. In G.T. McKee and P.S. Schenker, editors, Sensor Fusion and Decentralised Control in Robotic Stystems III, volume 4196, pages 337–347, Bellingham, 2000.

Distributed EIF with consensus x2x2 x1x1 Tracking an object Consensus over time (red = consensus) R. Olfati-Saber. Distributed Kalman filtering for sensor networks. In Proceedings of the 46th Conference on Decision and Control, New Orleans, LA, USA, 2007, pp. 5492–5498.

Distributed EIF with consensus x2x2 x1x1 Tracking an object Consensus over time (red = consensus) R. Olfati-Saber. Distributed Kalman filtering for sensor networks. In Proceedings of the 46th Conference on Decision and Control, New Orleans, LA, USA, 2007, pp. 5492–5498.

Distributed EIF with consensus x2x2 x1x1 Tracking an object Consensus over time (red = consensus) R. Olfati-Saber. Distributed Kalman filtering for sensor networks. In Proceedings of the 46th Conference on Decision and Control, New Orleans, LA, USA, 2007, pp. 5492–5498.

Distributed EIF with consensus x2x2 x1x1 Tracking an object Consensus over time (red = consensus) R. Olfati-Saber. Distributed Kalman filtering for sensor networks. In Proceedings of the 46th Conference on Decision and Control, New Orleans, LA, USA, 2007, pp. 5492–5498.

Relative Over Parameterized EKF J. Djugash and S. Singh. A robust method of localization and mapping using only range. In International Symposium on Experimental Robotics,July 2008.

Relative Over Parameterized EKF J. Djugash and S. Singh. A robust method of localization and mapping using only range. In International Symposium on Experimental Robotics,July 2008.

The Distributed ROPEIF DEIF DROPEIF Error (m)

Performance Tracking error Global dilution of position