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Multi-agent System Distributed Sensor Fusion Algorithms
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Rymdteknik.
2017 (engelsk)Independent thesis Advanced level (degree of Master (Two Years)), 20 poäng / 30 hpOppgave
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.

sted, utgiver, år, opplag, sider
2017. , 84 s.
Emneord [en]
Multi-agent, sensor fusion, Consensus theory, Single integrator consensus, Luenberger observer
HSV kategori
Identifikatorer
URN: urn:nbn:se:ltu:diva-65839OAI: oai:DiVA.org:ltu-65839DiVA: diva2:1144594
Fag / kurs
Student thesis, at least 30 credits
Utdanningsprogram
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 (engelsk)
Veileder
Examiner
Tilgjengelig fra: 2017-09-27 Laget: 2017-09-26 Sist oppdatert: 2017-09-27bibliografisk kontrollert

Open Access i DiVA

fulltext(1922 kB)