Approximate distributed Kalman filtering in sensor networks with quantifiable performance
Demetri Spanos,Reza Olfati-Saber,Richard M. Murray +2 more
- pp 133-139
TLDR
A frequency-domain characterization of the distributed estimator's steady-state performance is quantified in terms of a special matrix associated with the connection topology called the graph Laplacian, and also the rate of message exchange between immediate neighbors in the communication network.Abstract:
We analyze the performance of an approximate distributed Kalman filter proposed in recent work on distributed coordination. This approach to distributed estimation is novel in that it admits a systematic analysis of its performance as various network quantities such as connection density, topology, and bandwidth are varied. Our main contribution is a frequency-domain characterization of the distributed estimator's steady-state performance; this is quantified in terms of a special matrix associated with the connection topology called the graph Laplacian, and also the rate of message exchange between immediate neighbors in the communication network.read more
Citations
More filters
Journal ArticleDOI
Consensus and Cooperation in Networked Multi-Agent Systems
TL;DR: A theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees is provided.
Proceedings ArticleDOI
Distributed Kalman filtering for sensor networks
TL;DR: A continuous-time distributed Kalman filter that uses local aggregation of the sensor data but attempts to reach a consensus on estimates with other nodes in the network and gives rise to two iterative distributedKalman filtering algorithms with different consensus strategies on estimates.
Proceedings ArticleDOI
A scheme for robust distributed sensor fusion based on average consensus
TL;DR: This work proposes a simple distributed iterative scheme, based on distributed average consensus in the network, to compute the maximum-likelihood estimate of the parameters, and shows that it works in a network with dynamically changing topology, provided that the infinitely occurring communication graphs are jointly connected.
BookDOI
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
TL;DR: This self-contained introduction to the distributed control of robotic networks offers a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation.
Proceedings ArticleDOI
Distributed Kalman Filter with Embedded Consensus Filters
TL;DR: This paper shows that a central Kalman filter for sensor networks can be decomposed into n micro-Kalman filters with inputs that are provided by two types of consensus filters, and demonstrates that these filters can approximate these sums and give an approximate distributed Kalman filtering algorithm.
References
More filters
Journal ArticleDOI
A survey on sensor networks
TL;DR: The current state of the art of sensor networks is captured in this article, where solutions are discussed under their related protocol stack layer sections.
Journal ArticleDOI
Consensus problems in networks of agents with switching topology and time-delays
TL;DR: A distinctive feature of this work is to address consensus problems for networks with directed information flow by establishing a direct connection between the algebraic connectivity of the network and the performance of a linear consensus protocol.
Journal ArticleDOI
Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
TL;DR: A theoretical explanation for the observed behavior of the Vicsek model, which proves to be a graphic example of a switched linear system which is stable, but for which there does not exist a common quadratic Lyapunov function.
Proceedings ArticleDOI
Next century challenges: scalable coordination in sensor networks
TL;DR: This paper believes that localized algorithms (in which simple local node behavior achieves a desired global objective) may be necessary for sensor network coordination.
Journal ArticleDOI
Fast linear iterations for distributed averaging
Lin Xiao,Stephen Boyd +1 more
TL;DR: This work considers the problem of finding a linear iteration that yields distributed averaging consensus over a network, i.e., that asymptotically computes the average of some initial values given at the nodes, and gives several extensions and variations on the basic problem.
Related Papers (5)
Consensus problems in networks of agents with switching topology and time-delays
Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more