A collection of implementations of algorithms for data fusion in decentralized sensor networks and simulations to test and assess them.

Currently implemented algorithms:

• Covariance Intersection (CI)
• Ellipsoidal Intersection (EI)
• Inverse Covariance Intersection (ICI)

For testing and comparison:

• Naive fusion

Simulations:

• SimpleSensorNetwork, a network of two sensor nodes running a local Kalman filter to estimate the global state of a constant acceleration model.