Data Fusion Algorithms for Collaborative Robotic Exploration
Jeremy Thorpe, Robert J. McEliece · 2002
In this article, we will study the problem of efficient data fusion in an ad hoc network of mobile sensors (“robots”) using belief propagation (BP) on a graphical model similar to those used in turbo-style decoding. We also devise a new metric for evaluating the performance of general inference algorithms, including BP, that return “soft ” estimates. I.