Decentralized Estimation and Control for
Multisensor Systems explores the problem of developing scalable, decentralized estimation and control algorithms for linear and nonlinear multisensor systems. Such algorithms have extensive applications in modular robotics and complex or large scale systems, including the Mars Rover, the Mir station, and Space Shuttle Columbia.
Most existing algorithms use some form of hierarchical or centralized structure for data gathering and processing. In contrast, in a fully decentralized system, all information is processed locally. A decentralized data fusion system includes a network of sensor nodes - each with its own processing facility, which together do not require any central processing or central communication facility. Only node-to-node communication and local system knowledge are permitted.
Algorithms for decentralized data fusion systems based on the linear information filter have been developed, obtaining decentrally the same results as those in a conventional centralized data fusion system. However, these algorithms are limited, indicating that existing decentralized data fusion algorithms have limited scalability and are wasteful of communications and computation resources.
Decentralized Estimation and Control for
Multisensor Systems aims to remove current limitations in decentralized data fusion algorithms and to extend the decentralized principle to problems involving local control and actuation.
The text discusses:
Generalizing the linear Information filter to the problem of estimation for nonlinear systems
Developing a decentralized form of the algorithm
Solving the problem of fully connected topologies by using generalized model distribution where the nodal system involves only locally relevant states
Reducing computational requirements by using smaller local model sizes
Defining internodal communication
Developing estimation algorithms for different models
Applying the decentralized algorithms to the problem of decentralized control
Demonstrating the theory to a modular wheeled mobile robot, a vehicle system with nonlinear kinematics and distributed means of acquiring information
Extending the applications to other robotic systems and large scale systems
Decentralized Estimation and Control for
Multisensor Systems addresses how decentralized estimation and control systems are rapidly becoming indispensable tools in a diverse range of applications - such as process control systems, aerospace, and mobile robotics - providing a self-contained, dynamic resource concerning electrical and mechanical engineering.

This is the second of three volumes in a series that traces the leadership thoughts and philosophical disposition of Professor Arthur G.O. Mutambara over a period of 35 years. The dramatic removal of Robert Mugabe by a people-backed coup d’etat in November 2017 was greeted with euphoria and high expectations. However, the ensuing goodwill was rapidly squandered – the dream was deferred. Zimbabwe’s elections in July 2018 generated tremendous hope – the exhilaration for change was palpable. Alas, it was not to be. The vision of a peaceful, democratic and wealthy nation characterised by inclusive economic growth and shared prosperity – the ‘Zimbabwean Dream’ – has proven difficult to attain. In fact, this ambition has been hard to achieve in most African countries. Hence, Mutambara’s work is in search of the elusive ‘African Dream’. The trilogy constitutes a fascinating intellectual and political journey by the man who would become Deputy Prime Minister of Zimbabwe at the age of 42. It is a collection of grounded reflections presented together with selected autobiographical material. The work is a product of rigorous and peer-reviewed research and analysis. It contributes to the epistemology of thought leadership from the perspective of an engineer-cum-politician, bridging the knowledge gap between the two disciplines. This volume – The Path to Power – deals with Mutambara’s return to Africa from the United States and his re-entry into Zimbabwean politics, leading to his swearing-in as Deputy Prime Minister. The book discusses the build-up to the disputed 2008 elections and the chaotic aftermath. An erudite and blistering speech Mutambara gave led to his arrest and detention. Neither SADC nor the AU recognised the sham and genocidal June 2008 run-off election. This led to the SADC mediation efforts, facilitated by SA’s Thabo Mbeki. The intervention produced the GPA – the basis for the GNU. This well-researched book is the first literary contribution by someone intimately involved with both the GPA and GNU. In 2018, with the rigging of elections in Zimbabwe now at an industrial scale, the book articulates the lessons to be drawn from such polls. It proffers a strategic way forward – the path to power. The book is organised into three sections: Return to Africa and Re-entry into Politics (2003–2005); Building a Viable Alternative to ZANU-PF (2006–2007); and Journey Towards the GNU (2008–2009).

The first of three volumes, this book traces the leadership thoughts and philosophical disposition of Professor Arthur G.O. Mutambara over a period of 35 years, as his generation sought to become the transformation it wished to see in Zimbabwe.

The trilogy constitutes a fascinating intellectual and political journey by the man who would become Deputy Prime Minister of Zimbabwe at the age of 42. It is a collection of grounded reflections that he expressed over time, as he endeavoured to move, lead and inspire people, while turning strategic thinking into reality through the speed of execution.

Mutambara’s ambition has always been to change the world by igniting citizen activism. It is an epic journey of ideas that created evolutionary and even revolutionary advancement of democratic values, institution-building, social justice, empowerment, shared economic prosperity, people-centred governance and efficacious statecraft. The intrinsic value and relevance of the prescriptions proffered are both enduring and timeless. This volume deals with his formative years and early professional life. This period constitutes the making of a leader of global stature. His profound odyssey of thought leadership started at the age of 16, and moved through the University of Zimbabwe (UZ), where he graduated with a BSc (Hons) in Electrical Engineering. A statement he wrote as a student leader led to the unprecedented closure of UZ. He was injured and detained. His journey of ideas then proceeded to the University of Oxford, where he obtained an MSc in Computer Engineering and a PhD in Robotics and Mechatronics. The next stop was the United States, where he was a Research Scientist at NASA, Professor at MIT and Management Consultant at McKinsey.

The book ends with his return to the continent in 2002, equipped with Pan-African, business- and technology-driven developmental strategies and paradigms.