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Cooperative Terrain Based Navigation and Coverage Identification Using Consensus
Aeronautics Institute of Technology, Brazil.
Aeronautics Institute of Technology, Brazil.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
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2015 (English)In: 18th International Conference on Information Fusion (Fusion), 2015: Proceedings, IEEE , 2015, 1190-1197 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a distributed online method for joint state and parameter estimation in a Jump Markov NonLinear System based on a distributed recursive Expectation Maximization algorithm. State inference is enabled via the use of Rao-Blackwellized Particle Filter and, for the parameter estimation, the E-step is performed independently at each sensor with the calculation of local sufficient statistics. An average consensus algorithm is used to diffuse local sufficient statistics to neighbors and approximate the global sufficient statistics throughout the network. The evaluation of the proposed algorithm is carried out on a Terrain Based Navigation problem where the unknown parameters of the observation noise model contain relevant information about the terrain properties.

Place, publisher, year, edition, pages
IEEE , 2015. 1190-1197 p.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-121624ISBN: 978-0-9824-4386-6 (print)OAI: oai:DiVA.org:liu-121624DiVA: diva2:857373
Conference
18th International Conference on Information Fusion (FUSION), Washington D.C., USA, July 6-9 2015
Funder
VINNOVA
Available from: 2015-09-28 Created: 2015-09-28 Last updated: 2016-03-10Bibliographically approved

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http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7266693&queryText=Cooperative%20Terrain%20Based%20Navigation%20and%20Coverage%20Identification%20Using%20Consensus&newsearch=true

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Özkan, EmreFritsche, CarstenGustafsson, Fredrik

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Özkan, EmreFritsche, CarstenGustafsson, Fredrik
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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
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  • vancouver
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  • Other style
More styles
Language
  • de-DE
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  • en-US
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Output format
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