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:

  • Each node does not require intrinsic knowledge of the system topology
  • Topology is variable. Nodes can be added or subtracted without significantly impacting the overall system
  • Less vulnerable to single-point failures
  • Computational load can be spread amongst nodes for efficiency

Decentralized systems also suffer from some disadvantages:

  • All nodes may not have access to all information contained within the system
  • Multiple nodes have access to the same information