ABSTRACT
This conclusion presents some closing thoughts on the concepts covered in the preceding chapters of this book. The book summarizes the developed theory and the experimental results, as well as evaluate the contributions made. It focuses on the benefits of using decentralized estimation and control, model defined topologies and local internodal communication. The book discusses the application of this theory to modular vehicle robotics. It explores unresolved theoretical, design and application issues. Special cases of the transformation matrices were derived and both their practical implications and applications were identified. The linear Information filter was generalized to deal with the problem of estimation of nonlinear systems. This was done by deriving the extended Information filter. For linear systems a distributed and decentralized Information filter, which is more general than the one in, was derived. The decentralized Information filter was extended to a decentralized linear control system and the decentralized extended Information filter to a decentralized control algorithm for nonlinear systems.
