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Section 7.8.5.2, and the INS Kalman lter uses the GPS Kalman lter outputs for estimating sensor errors that the INS would be incapable of estimating by itself. An implementation of this type is called ``GPS-aided INS'' because the INS Kalman lter treats the outputs of the GPS Kalman lter as sensor outputs and does not include the GPS state variables (clock bias and drift). The models used in the INS Kalman lter for estimating the INS parameters will be the same or similar in form to those used in tightly coupled implementations (Section 8.6.3). The sensor noise on the position and velocity data from the GPS receiver are modeled as exponentially correlated random processes to account for the fact that their variances remain bounded. The time constants for these exponentially correlated processes will usually be on the order of 102 s. The advantages of this type of implementation include the fact that the GPS receiver can be treated as a separate subsystem requiring no alteration for the system-level integration. It is a relatively simple way to make an inexpensive IMU perform as well as an expensive one.

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Additionally, they changed the policy about the way they handled the global leveling of inventory. Task Not Done Yet Long announced that the results achieved for 2002 exceeded expectations. For example, the obsolescence reserve requirement was reduced by 30% (the target was originally set at 10%). Gross inventory/revenue improved by 26%, and the net inventory/revenue improved by 22%. Also, the parts cost/revenue improved significantly. Despite these impressive results, Long noted that the work is not yet complete. Still awaiting action are the mapping and documentation of four processes (those mostly outsourced), and automation of the KPIs for reporting purposes. Further, the global councils are currently working at standardizing terminology definitions so that measurements can be compared on a global basis, apples to apples. Finally, Long related, We also intend to leverage our global processes with vendors to execute true global contracts, and not strictly country or theater contracts.

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[167] D Gale, The Theory of Linear Economic Models, Nueva York, EEUU: McGraw-Hill Book Company, Inc, 1960 [168] HW Kuhn, The hungarian method for the assignment problem , Naval Research Logistics Quarterly, vol 2(1), pp 83 97, 1955 [169] DP Bertsekas, The auction algorithm for assignment and other network ow problems: a tutorial , Interfaces, vol 20(4), pp 133 149, 1990 [170] P Brucker, Scheduling Algorithms, Berlin: Springer-Verlag, 1998 [171] JL Bruno, EG Coffmann and R Sethi, Scheduling independent tasks to reduce mean nishing time , Communications of the ACM, vol 17(7), pp 382 387, 1974 [172] MB Dias and A Stentz, A market approach to multi-robot coordination , The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, Tech Rep CMU-RI-TR01-26, 2001 [173] KL Moore, Y Chen and Z.

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Song, Diffusion-based path planning in mobile actuatorsensor networks (mas-net): some preliminary results , in Proceedings of SPIE, April 2004 [174] RS Aylett and DP Barnes, A multi-robot architecture for planetary rovers , in Proceedings of the 5th ESA Workshop on Space Robotics, ASTRA 98, Noordwijk: European Space Agency, 1998 [175] M Mataric, M Nilsson and KT Simsarian, Cooperative multi-robot box-pushing , in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, vol 3 Los Alamitos, CA: IEEE Computer Society Press, 1995, pp 556 561 [176] D Rus, B Donald and J Jennings, Moving furniture with teams of autonomous robots , in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, vol 1, Pittsburgh, PA: IEEE, 1995, pp 235 242 [177] LE Parker, Alliance: An architecture for fault tolerant multi-robot cooperation , IEEE Transactions on Robotics and Automation, vol 14(2), pp.

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