Matlab code for a decentralized Kalman filter as presented by: B.S. Rao, H.F. Durrant-Whyte,” Fully decentralised algorithm for multisensor Kalman filtering”

该CBBA(Consensus-Based Bundle Algorithm)算法可以解决带有任务属性、任务价值、任务时间窗等多种约束下的任务分配问题，结果以图形化展示，便于理解。-CBBA is a decentralized market-based protocol that provides provably good approximate solutions for multi-agent multi-task allocation problems over networks of