A centralized-equivalent decentralized implementation of Extended Kalman Filters for cooperative localization

@article{Kia2014ACD,
  title={A centralized-equivalent decentralized implementation of Extended Kalman Filters for cooperative localization},
  author={Solmaz S. Kia and Stephen F. Rounds and Sonia Mart{\'i}nez},
  journal={2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2014},
  pages={3761-3766}
}
We present a novel decentralized cooperative localization algorithm for mobile robots. The proposed algorithm is a decentralized implementation of a centralized Extended Kalman Filter for cooperative localization. In this algorithm, instead of propagating cross-covariance terms, each robot propagates new intermediate local variables that can be used in an update stage to create the required propagated cross-covariance terms. Whenever there is a relative measurement in the network, the algorithm… CONTINUE READING

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