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In this paper we introduced a theoretical framework for formation control and target tracking for a limited number of mobile robots with partially unknown dynamic models using decentralized and distributed Kalman filter. The mobile robots seek to track a stochastic target while trying to reach a pre-defined formation. Kalman-consensus filter and decentralized Kalman filter is used to infer the received...
In this this paper we have proposed a novel way for avoiding dynamic stochastic obstacles through estimating the position and velocity of the obstacles using Kalman consensus filter which is also known as distributed Kalman filter while seeking to track a stochastic target and keeping the connectivity of the swarm. Estimation algorithms enables the agents to propagate their measurements of the target...
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