A robust architecture for decentralised data fusion

被引：0

作者：

Nettleton, E ^{[1
]}

Durrant-Whyte, H ^{[1
]}

Sukkarieh, S ^{[1
]}

机构：

[1] Univ Sydney, Sch Aerosp Mech & Mechatron Engn, Australian Ctr Field Robot, Sydney, NSW 2006, Australia

来源：

PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3 | 2003年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a robust architecture for decentralised data fusion (DDF). The decentralised algorithm uses the inverse covariance form of the Kalman filter to communicate information between nodes in a decentralised network. This results in a system where each node has global information available locally, without any centralised processing or communication facilities. Real airborne data is used to demonstrate the advantages of this architecture for an airborne tracking and map building problem.

引用

页码：1425 / 1430

页数：6

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