Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Cooperative localization for mobile agents: a recursive decentralized
  algorithm based on Kalman filter decoupling   We consider cooperative localization technique for mobile agents with
communication and computation capabilities. We start by provide and overview of
different decentralization strategies in the literature, with special focus on
how these algorithms maintain an account of intrinsic correlations between
state estimate of team members. Then, we present a novel decentralized
cooperative localization algorithm that is a decentralized implementation of a
centralized Extended Kalman Filter for cooperative localization. In this
algorithm, instead of propagating cross-covariance terms, each agent propagates
new intermediate local variables that can be used in an update stage to create
the required propagated cross-covariance terms. Whenever there is a relative
measurement in the network, the algorithm declares the agent making this
measurement as the interim master. By acquiring information from the interim
landmark, the agent the relative measurement is taken from, the interim master
can calculate and broadcast a set of intermediate variables which each robot
can then use to update its estimates to match that of a centralized Extended
Kalman Filter for cooperative localization. Once an update is done, no further
communication is needed until the next relative measurement.

2
The categories of this paper are: math
15
The categories of this paper are: nucl-ex
14
The categories of this paper are: math-ph
19
The categories of this paper are: eess
9
The categories of this paper are: nlin
37
The categories of this paper are: supr-con
20
The categories of this paper are: acc-phys
5
The categories of this paper are: gr-qc
12
The categories of this paper are: nucl-th
26
The categories of this paper are: bayes-an
4
The categories of this paper are: cond-mat
22
The categories of this paper are: chao-dyn
25
The categories of this paper are: patt-sol
0
The categories of this paper are: hep-ph
32
The categories of this paper are: atom-ph
8
The categories of this paper are: hep-ex