Distributed Kalman Filtering for Range only Radio Networks

1. Distributed Kalman Filtering for Range only Radio Networks • Sanjiban Choudhury

2. Problem Framework Stop Path Start Radio Nodes

3. 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 Information Vector, Covariance and Measurement State and Covariance Prediction Reverting to original form for state and covariance update Information Update Data can be asynchronous, grid may not be fully connected

4. 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 Information Vector, Covariance and Measurement State and Covariance Prediction Reverting to original form for state and covariance update Information Update Data can be asynchronous, grid may not be fully connected

5. 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 Information Vector, Covariance and Measurement State and Covariance Prediction Reverting to original form for state and covariance update Information Update Data can be asynchronous, grid may not be fully connected

6. 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 Information Vector, Covariance and Measurement State and Covariance Prediction Reverting to original form for state and covariance update Information Update Data can be asynchronous, grid may not be fully connected

7. 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 x2 x1 Tracking an object Consensus over time (red = consensus)

8. 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 x2 x1 Tracking an object Consensus over time (red = consensus)

9. 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 x2 x1 Tracking an object Consensus over time (red = consensus)

10. 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 x2 x1 Tracking an object Consensus over time (red = consensus)

11. 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

12. 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

13. The Distributed ROPEIF DROPEIF Error (m) DEIF Error (m)

14. Performance Tracking error Tracking error Global dilution of position