Distributed Information Filtering using Consensus Filters

被引：60

作者：

Casbeer, David W. ^{[1
]}

Beard, Randy ^{[1
]}

机构：

[1] Brigham Young Univ, Dept Elect & Comp Engn, Provo, UT 84602 USA

来源：

2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9 | 2009年

关键词：

MULTIAGENT SYSTEMS; NETWORKS; STABILITY;

D O I：

10.1109/ACC.2009.5160531

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we present a new information consensus filter for distributed dynamic-state estimation. Estimation is handled by the traditional information filter, while communication of measurements is handled by a consensus filter. First and second-order statistics of local estimates are discussed. It is shown that local information consensus filter estimates are unbiased, and the actual variance of the local estimation errors is comparable to a centralized estimate. However, local agents believe their local estimates are less accurate.

引用

页码：1882 / 1887

页数：6

共 23 条

[1]

Bar-Shalom Y., 1995, Multitarget-multisensor Tracking: Principles and Techniques

[2] ON THE TRACK-TO-TRACK CORRELATION-PROBLEM [J].

BARSHALOM, Y .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1981, 26 (02) :571-573

[3]

Boyd S, 2004, SIAM REV, V46, P667, DOI [10.1137/S0036144503423264, 10.1137/s0036144503423264]

[4]

CASBEER DW, 2009, THESIS B YOUNG U

[5] DATA FUSION IN DECENTRALIZED SENSOR NETWORKS [J].

GRIME, S ;

DURRANTWHYTE, HF .

CONTROL ENGINEERING PRACTICE, 1994, 2 (05) :849-863

[6]

Kalman R.E., 1960, Journal of Basic Engineering, Bd, V82, P35, DOI [10.1115/1.3662552, DOI 10.1115/1.3662552]

[7] Discrete-time average-consensus under switching network topologies [J].

Kingston, Derek B. ;

Beard, Randal W. .

2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, 2006, 1-12 :3551-3556

[8]

Maybeck P.S., 1982, Stochastic Models, Estimation, and Control

[9] Stability of multiagent systems with time-dependent communication links [J].

Moreau, L .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2005, 50 (02) :169-182

[10]

Mutambara AGO., 1998, Decentralized estimation and control for multisensor systems

← 1 2 3 →