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Proceedings Paper

State estimation for distributed systems with sensing delay
Author(s): Harold L. Alexander
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Paper Abstract

Control of complex systems such as remote robotic vehicles requires combining data from many sensors where the data may often be delayed by sensory processing requirements. The number and variety of sensors make it desirable to distribute the computational burden of sensing and estimation among multiple processors. Classic Kalman filters do not lend themselves to distributed implementations or delayed measurement data. The alternative Kalman filter designs presented in this paper are adapted for delays in sensor data generation and for distribution of computation for sensing and estimation over a set of networked processors.

Paper Details

Date Published: 1 August 1991
PDF: 9 pages
Proc. SPIE 1470, Data Structures and Target Classification, (1 August 1991); doi: 10.1117/12.44843
Show Author Affiliations
Harold L. Alexander, Massachusetts Institute of Technology (United States)

Published in SPIE Proceedings Vol. 1470:
Data Structures and Target Classification
Vibeke Libby, Editor(s)

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