Decentralized Estimation and Control for
Multisensor Systems explores the problem of developing scalable, decentralized estimation and control algorithms for linear and nonlinear multisensor systems. Such algorithms have extensive applications in modular robotics and complex or large scale systems, including the Mars Rover, the Mir station, and Space Shuttle Columbia.
Most existing algorithms use some form of hierarchical or centralized structure for data gathering and processing. In contrast, in a fully decentralized system, all information is processed locally. A decentralized data...