Covariance Intersection

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Decentralized Systems

Systems comprised of a number of computing nodes all supporting a common mission. All nodes can be given the same task or asked to support the mission through a subset of tasks. Decentalized systems offer several advantages over their centralized counterparts including:

1) Each node does not require intrinsic knowledge of the system topology

2) Topology is variable. Nodes can be added or subtracted without significantly impacting the overall system

3) Less vulnerable to single-point failures

4) Computational load can be spread amongst nodes for efficiency

Decentralized systems also suffer from some disadvantages

1) All nodes may not have access to all information contained within the system

2) Multiple nodes have access to the same information