Delayed Fusion of Relative State Measurements by Extending Stochastic Cloning via Direct Kalman Filtering

In this work, a real-time localization problem is formulated by incorporating exteroceptive sensors as sources of both relative state measurement and delayed information within a direct Kalman filtering approach. The problem of delayed incorporation of relative state measurements is addressed by extending the stochastic cloning framework, whereby an augmented state vector is defined by copies of the current and delayed states.