Decentralized Estimation and Control for Multisensor Systems: 1st Edition (Hardback) book cover

Decentralized Estimation and Control for Multisensor Systems

1st Edition

By Arthur G.O. Mutambara

CRC Press

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Hardback: 9780849318658
pub: 1998-01-29
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Description

Decentralized Estimation and Control for

Multisensor Systems explores the problem of developing scalable, decentralized estimation and control algorithms for linear and nonlinear multisensor systems. Such algorithms have extensive applications in modular robotics and complex or large scale systems, including the Mars Rover, the Mir station, and Space Shuttle Columbia.

Most existing algorithms use some form of hierarchical or centralized structure for data gathering and processing. In contrast, in a fully decentralized system, all information is processed locally. A decentralized data fusion system includes a network of sensor nodes - each with its own processing facility, which together do not require any central processing or central communication facility. Only node-to-node communication and local system knowledge are permitted.

Algorithms for decentralized data fusion systems based on the linear information filter have been developed, obtaining decentrally the same results as those in a conventional centralized data fusion system. However, these algorithms are limited, indicating that existing decentralized data fusion algorithms have limited scalability and are wasteful of communications and computation resources.

Decentralized Estimation and Control for

Multisensor Systems aims to remove current limitations in decentralized data fusion algorithms and to extend the decentralized principle to problems involving local control and actuation.

The text discusses:

  • Generalizing the linear Information filter to the problem of estimation for nonlinear systems

  • Developing a decentralized form of the algorithm

  • Solving the problem of fully connected topologies by using generalized model distribution where the nodal system involves only locally relevant states

  • Reducing computational requirements by using smaller local model sizes

  • Defining internodal communication

  • Developing estimation algorithms for different models

  • Applying the decentralized algorithms to the problem of decentralized control

  • Demonstrating the theory to a modular wheeled mobile robot, a vehicle system with nonlinear kinematics and distributed means of acquiring information

  • Extending the applications to other robotic systems and large scale systems

    Decentralized Estimation and Control for

    Multisensor Systems addresses how decentralized estimation and control systems are rapidly becoming indispensable tools in a diverse range of applications - such as process control systems, aerospace, and mobile robotics - providing a self-contained, dynamic resource concerning electrical and mechanical engineering.

  • Table of Contents

    Introduction

    Background

    Motivation

    Problem Statement

    Approach

    Principal Contributions

    Book Outline

    Estimation and Information Space

    Introduction

    The Kalman Filter

    The Information Filter

    The Extended Kalman Filter (EKF)

    The Extended Information Filter (EIF)

    Examples of Estimation in Nonlinear Systems

    Summary

    Decentralized Estimation for Multisensor Systems

    Introduction

    Multisensor Systems

    Decentralized Systems

    Decentralized Estimators

    The Limitations of Fully Connected Decentralization

    Summary

    Scalable Decentralized Estimation

    Introduction

    An Extended Example

    The Moore-Penrose Generalized Inverse: T+

    Generalized Internodal Transformation

    Special Cases of Tji(k)

    Distributed and Decentralized Filters

    Summary

    Scalable Decentralized Control

    Introduction

    Optimal Stochastic Control

    Decentralized Multisensor Based Control

    Simulation Example

    Summary

    Multisensor Applications: A Wheeled Mobile Robot

    Introduction

    Wheeled Mobile Robot (WMR) Modeling

    Decentralized WMR Control

    Hardware Design and Construction

    Software Development

    On-Vehicle Software

    Summary

    Results and Performance Analysis

    Introduction

    System Performance Criteria

    Simulation Results

    WMR Experimental Results

    Summary

    Conclusions and Future Research

    Introduction

    Summary of Contributions

    Research Appraisal

    Future Research Directions

    Bibliography

    Subject Categories

    BISAC Subject Codes/Headings:
    COM059000
    COMPUTERS / Computer Engineering
    TEC007000
    TECHNOLOGY & ENGINEERING / Electrical
    TEC009070
    TECHNOLOGY & ENGINEERING / Mechanical