Cooperative terrain based navigation and coverage identification using consensus

2015-07-06
Kasebzadeh, Parinaz
Fritsche, Carsten
Özkan, Emre
Gunnarsson, Fredrik
Gustafsson, Fredrik
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.
18th International Conference on Information Fusion (2015)

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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.