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UAI
2003

Decentralized Sensor Fusion with Distributed Particle Filters

13 years 5 months ago
Decentralized Sensor Fusion with Distributed Particle Filters
This paper presents a scalable Bayesian technique for decentralized state estimation from multiple platforms in dynamic environments. As has long been recognized, centralized architectures impose severe scaling limitations for distributed systems due to the enormous communication overheads. We propose a strictly decentralized approach in which only nearby platforms exchange information. They do so through an interactive communication protocol aimed at maximizing information flow. Our approach is evaluated in the context of a distributed surveillance scenario that arises in a robotic system for playing the game of laser tag. Our results, both from simulation and using physical robots, illustrate an unprecedented scaling capability to large teams of vehicles.
Matthew Rosencrantz, Geoffrey J. Gordon, Sebastian
Added 01 Nov 2010
Updated 01 Nov 2010
Type Conference
Year 2003
Where UAI
Authors Matthew Rosencrantz, Geoffrey J. Gordon, Sebastian Thrun
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