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Multi-agent System Distributed Sensor Fusion Algorithms
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Space Technology.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The concept of consensus filters for sensor fusion is not an entirely new proposition but one with an internally implemented Bayesian fusion is. This work documents a novel state update algorithm for sensor fusion which works using the principle of Bayesian fusion of data with variance implemented on a single integrator consensus algorithm. Comparative demonstrations of how consensus over a pinning network is reached are presented along with a weighted Bayesian Luenberger type observer and a ’Consensus on estimates’ algorithm. This type of a filter is something that is novel and has not been encountered in previous literature related to this topic to the best of our knowledge. In this work, we also extend the proof for a distributed Luenberger type observer design to include the case where the network being considered is a strongly connected digraph.

Place, publisher, year, edition, pages
2017. , 84 p.
Keyword [en]
Multi-agent, sensor fusion, Consensus theory, Single integrator consensus, Luenberger observer
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-65839OAI: oai:DiVA.org:ltu-65839DiVA: diva2:1144594
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level (120 credits)
Presentation
2017-06-15, K-14, Faculty of Electrical Engineering, Charles Square 13, Prague 2, building E – ground floor, Prague, 08:45 (English)
Supervisors
Examiners
Available from: 2017-09-27 Created: 2017-09-26 Last updated: 2017-09-27Bibliographically approved

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf