2 papers
cs.RO2025
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…
math.OC2025
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…