298,230 research outputs found
Joint estimation and localization in sensor networks
This paper addresses the problem of collaborative tracking of dynamic targets in wireless sensor networks. A novel distributed linear estimator, which is a version of a distributed Kalman filter, is derived. We prove that the filter is mean square consistent in the case of static target estimation. When large sensor networks are deployed, it is common that the sensors do not have good knowledge of their locations, which affects the target estimation procedure. Unlike most existing approaches for target tracking, we investigate the performance of our filter when the sensor poses need to be estimated by an auxiliary localization procedure. The sensors are localized via a distributed Jacobi algorithm from noisy relative measurements. We prove strong convergence guarantees for the localization method and in turn for the joint localization and target estimation approach. The performance of our algorithms is demonstrated in simulation on environmental monitoring and target tracking tasks
Joint Estimation and Localization in Sensor Networks
This paper addresses the problem of collaborative tracking of dynamic targets
in wireless sensor networks. A novel distributed linear estimator, which is a
version of a distributed Kalman filter, is derived. We prove that the filter is
mean square consistent in the case of static target estimation. When large
sensor networks are deployed, it is common that the sensors do not have good
knowledge of their locations, which affects the target estimation procedure.
Unlike most existing approaches for target tracking, we investigate the
performance of our filter when the sensor poses need to be estimated by an
auxiliary localization procedure. The sensors are localized via a distributed
Jacobi algorithm from noisy relative measurements. We prove strong convergence
guarantees for the localization method and in turn for the joint localization
and target estimation approach. The performance of our algorithms is
demonstrated in simulation on environmental monitoring and target tracking
tasks.Comment: 9 pages (two-column); 5 figures; Manuscript submitted to the 2014
IEEE Conference on Decision and Control (CDC
The Extended Parameter Filter
The parameters of temporal models, such as dynamic Bayesian networks, may be
modelled in a Bayesian context as static or atemporal variables that influence
transition probabilities at every time step. Particle filters fail for models
that include such variables, while methods that use Gibbs sampling of parameter
variables may incur a per-sample cost that grows linearly with the length of
the observation sequence. Storvik devised a method for incremental computation
of exact sufficient statistics that, for some cases, reduces the per-sample
cost to a constant. In this paper, we demonstrate a connection between
Storvik's filter and a Kalman filter in parameter space and establish more
general conditions under which Storvik's filter works. Drawing on an analogy to
the extended Kalman filter, we develop and analyze, both theoretically and
experimentally, a Taylor approximation to the parameter posterior that allows
Storvik's method to be applied to a broader class of models. Our experiments on
both synthetic examples and real applications show improvement over existing
methods
System Identification for Nonlinear Control Using Neural Networks
An approach to incorporating artificial neural networks in nonlinear, adaptive control systems is described. The controller contains three principal elements: a nonlinear inverse dynamic control law whose coefficients depend on a comprehensive model of the plant, a neural network that models system dynamics, and a state estimator whose outputs drive the control law and train the neural network. Attention is focused on the system identification task, which combines an extended Kalman filter with generalized spline function approximation. Continual learning is possible during normal operation, without taking the system off line for specialized training. Nonlinear inverse dynamic control requires smooth derivatives as well as function estimates, imposing stringent goals on the approximating technique
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