@inproceedings{14f72baaf4a14341b71a451ff664170a,
title = "A distributed moving horizon estimator for mobile robot localization problems",
abstract = "We propose a distributed moving horizon estimator (MHE) for a mobile robot localization problem using sensor networks. The application scenario represents a constrained nonlinear system, where the process is locally unobservable by each sensor alone. The proposed distributed MHE algorithm is based on a weighted average consensus process. Crucial aspects such as stability, unbiased estimates, and the approximation of the arrival cost are discussed. Simulation results show the performance of the algorithm in comparison to the centralized approach.",
keywords = "Distributed estimation, Moving horizon estimator, Sensor networks",
author = "Andrea Simonetto and Daniele Balzaretti and Tam{\'a}s Keviczky",
year = "2011",
month = jan,
day = "1",
doi = "10.3182/20110828-6-IT-1002.02849",
language = "English",
isbn = "9783902661937",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "1 PART 1",
pages = "8902--8907",
booktitle = "Proceedings of the 18th IFAC World Congress",
edition = "1 PART 1",
}