1st Edition
Decentralized Estimation and Control for Multisensor Systems
By Arthur G.O. Mutambara
Copyright 1998
248 Pages
by
CRC Press
256 Pages
by
Routledge
Also available as eBook on:
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... Read more
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
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
Biography
Professor Arthur G.O. Mutambara- Arthur Mutambara is a robotics scientist, professor, and former Deputy Prime Minister of Zimbabwe. He is the Managing Director and CEO of the Africa Technology & Business Institute. Main research focus: wheeled mobile robots, decentralized communication in scalable flight formation, mechatronic design methodology, and modular robots.
