Nonlinear information space: A practical basis for decentralization

A. G.O. Mutambara, H. F. Durrant-Whyte

Research output: Contribution to journalConference articlepeer-review

8 Citations (Scopus)


In this paper the Nonlinear Information Filier (NIF) is derived from the Eziended Kalman Filier (EKF). A nonlinear system is considered. Linearizing the state and observation equations, a linear estimator which keeps track of total state estimates is conceived; ihe Ez1ended Kalman Filier. The linearized parameters and filter equations are expressed in informa1ion space. This gives a filter that predicts and estimates information about nonlinear state parameters given nonlinear observations and nonlinear system dynamics. The Nonlinear Informaiion Fil1er derivation is contrasted to that of the Linear Information ifiter (IF). Pitfalls of a naive extension of the later to the former are thus identified. Furthermore, the Nonlinear Information ifiter is decentralized and distributed, to give the Disiribued and Deceniralized Nonlinear Information (DDNIF). Application in real decentralized data fusion and distributed control is proposed. Specifically, realtime distributed/decentralized control of a navigating, modular wheeled robot is considered.

Original languageEnglish
Pages (from-to)97-105
Number of pages9
JournalProceedings of SPIE - The International Society for Optical Engineering
Publication statusPublished - 6 Oct 1994
Externally publishedYes
EventSensor Fusion VII 1994 - Boston, United States
Duration: 31 Oct 19944 Nov 1994


  • Decentralized fusion
  • Distributed control
  • Information filter
  • Kalman filter
  • Modular robot
  • Nonlinear

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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