Distributed Nonlinear Filtering using Triangular Transport Maps

2023/10/29 by Daniel Grange, Grange, Daniel, Ricardo Baptista +7
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #Multiagent Systems (cs.MA) #Spacecraft Dynamics and Control #Target Tracking and Data Fusion in Sensor Networks

paper · pdf · doi:10.48550/arxiv.2310.19000

openalex publication_date 2023/10/29 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

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.

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