Kalman filtering in mobile consensus networks

@article{Haumann2012KalmanFI,
  title={Kalman filtering in mobile consensus networks},
  author={A. Dominik Haumann and Volker Willert and Arne Wahrburg},
  journal={2012 IEEE International Symposium on Intelligent Control},
  year={2012},
  pages={944-950}
}
In this paper, we design a Kalman filter for a mobile sensor network that tries to reach consensus based solely on relative measurements. We show, that this problem cannot be solved with state-of-the-art Kalman consensus filters because such a mobile consensus network is not observable. Hence, we propose a system transformation and the concept of a… CONTINUE READING