Cooperative terrain based navigation and coverage identification using consensus

Date

2015-07-06

Author

Kasebzadeh, Parinaz
Fritsche, Carsten
Özkan, Emre
Gunnarsson, Fredrik
Gustafsson, Fredrik

Metadata

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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.

URI

https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7266693
https://hdl.handle.net/11511/83491

Conference Name

18th International Conference on Information Fusion (2015)

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

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Citation Formats

P. Kasebzadeh, C. Fritsche, E. Özkan, F. Gunnarsson, and F. Gustafsson, “Cooperative terrain based navigation and coverage identification using consensus,” Washington, DC, 2015, p. 1190, Accessed: 00, 2021. [Online]. Available: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7266693.