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Multi-level State Estimation in an Outdoor Decentralised Sensor Network

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Experimental Robotics

Abstract

Decentralised estimation of heterogeneous sensors is performed on an outdoor network. Attributes such as position, appearance, and identity represented by non-Gaussian distributions are used in in the fusion process. It is shown here that real-time decentralised data fusion of non-Gaussian estimates can be used to build rich environmental maps. Human operators are also used as additional sensors in the network to complement robotic information.

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Oussama Khatib Vijay Kumar Daniela Rus

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Upcroft, B. et al. (2008). Multi-level State Estimation in an Outdoor Decentralised Sensor Network. In: Khatib, O., Kumar, V., Rus, D. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 39. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77457-0_33

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  • DOI: https://doi.org/10.1007/978-3-540-77457-0_33

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-77456-3

  • Online ISBN: 978-3-540-77457-0

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