4 papers
GMM-Based Time-Varying Coverage Control
Behzad Zamani, James Kennedy, Airlie Chapman +3
In coverage control problems that involve time-varying density functions, the coverage control law depends on spatial integrals of the time evolution of the density function. The l…
Modular Robot and Landmark Localisation Using Relative Bearing Measurements
Behzad Zamani, Jochen Trumpf, Chris Manzie
In this paper we propose a modular nonlinear least squares filtering approach for systems composed of independent subsystems. The state and error covariance estimate of each subsys…
Conservative fusion of unbiased partial state estimates: CI is optimal
Jochen Trumpf, Behzad Zamani, Chris Manzie
We show that Covariance Intersection (CI) is optimal amongst all conservative unbiased linear fusion rules also in the general case of information fusion of two unbiased partial st…
Geometric Data Fusion for Collaborative Attitude Estimation
Yixiao Ge, Behzad Zamani, Pieter van Goor +2
In this paper, we consider the collaborative attitude estimation problem for a multi-agent system. The agents are equipped with sensors that provide directional measurements and re…