Distributed Nonlinear Filtering using Triangular Transport Maps
Multiagent Systems
2023-10-31 v1
Abstract
The distributed filtering problem sequentially estimates a global state variable using observations from a network of local sensors with different measurement models. In this work, we introduce a novel methodology for distributed nonlinear filtering by combining techniques from transportation of measures, dimensionality reduction, and consensus algorithms. We illustrate our methodology on a satellite pose estimation problem from a network of direct and indirect observers. The numerical results serve as a proof of concept, offering new venues for theoretical and applied research in the domain of distributed filtering.
Cite
@article{arxiv.2310.19000,
title = {Distributed Nonlinear Filtering using Triangular Transport Maps},
author = {Daniel Grange and Ricardo Baptista and Amirhossein Taghvaei and Allen Tannenbaum and Sean Phillips},
journal= {arXiv preprint arXiv:2310.19000},
year = {2023}
}
Comments
7 pages, 2 figures