Distributed Particle Filtering over Sensor Networks for Autonomous Navigation of UAVs

by Gerasimos Rigatos

The paper has examined the problem of localization and autonomous navigation of a multiUAV system based on distributed filtering over sensor networks. Particular emphasis was paid to distributed particle filtering since this decentralized state estimation approach is not constrained by the assumption of noise Gaussian distribution. It was considered that m UAV (helicopter) models are monitored by n different ground stations. The overall concept was that at each monitoring station a filter...