Ofer Dagan

2 accepted papers

2023

Non-Linear Heterogeneous Bayesian Decentralized Data Fusion

Ofer Dagan, Tycho L. Cinquini, Nisar R. Ahmed

IROS 2023poster

The factor graph decentralized data fusion (FG-DDF) framework was developed for the analysis and exploitation of conditional independence in heterogeneous Bayesian decentralized fusion problems, in which robots update and fuse pdfs over different, but overlapping subsets of random states. This allow…

Cited by 2 Source ↗Scholar ↗

2022

Conservative Filtering for Heterogeneous Decentralized Data Fusion in Dynamic Robotic Systems

Ofer Dagan, Nisar R. Ahmed

IROS 2022poster

This paper presents a method for Bayesian multi-robot peer-to-peer data fusion where any pair of autonomous robots hold non-identical, but overlapping parts of a global joint probability distribution, representing real world inference tasks (e.g., mapping, tracking). It is shown that in dynamic stoc…

Cited by 6 Source ↗Scholar ↗