Related papers: Set-Membership Filtering-Based Cooperative State E…
In this paper, we focus on the distributed set-membership filtering (SMFing) problem for a multi-agent system with absolute (taken from agents themselves) and relative (taken from neighbors) measurements. In the literature, the relative…
This article studies the distributed estimation problem of a multi-agent system with bounded absolute and relative range measurements. Parts of the agents are with high-accuracy absolute measurements, which are considered as anchors; the…
This paper considers the state estimation problem for nonlinear dynamic systems with unknown but bounded noises. Set membership filter (SMF) is a popular algorithm to solve this problem. In the set membership setting, we investigate the…
In this paper, we investigate the distributed state estimation problem for a continuous-time linear multi-agent system (MAS) composed of $\mathit{m}$ agents and monitored by the agents themselves. To address this problem, we propose a…
The invariant filtering theory based on the group theory has been successful in statistical filtering methods. However, there exists a class of state estimation problems with unknown statistical properties of noise disturbances, and it is…
In this paper, we study the collaborative state fusion problem in a multi-agent environment, where mobile agents collaborate to track movable targets. Due to the limited sensing range and potential errors of on-board sensors, it is…
In this paper, we present a distributed estimation setup where local agents estimate their states from relative measurements received from their neighbours. In the case of heterogeneous multi-agent systems, where only relative measurements…
A crucial challenge in decentralized systems is state estimation in the presence of unknown inputs, particularly within heterogeneous sensor networks with dynamic topologies. While numerous consensus algorithms have been introduced, they…
In this paper, a set-membership filtering-based leader-follower synchronization protocol for discrete-time linear multi-agent systems is proposed wherein the aim is to make the agents synchronize with a leader. The agents, governed by…
We introduce a distributed, cooperative framework and method for Bayesian estimation and control in decentralized agent networks. Our framework combines joint estimation of time-varying global and local states with information-seeking…
The purpose of this paper is to describe the feedback particle filter algorithm for problems where there are a large number ($M$) of non-interacting agents (targets) with a large number ($M$) of non-agent specific observations…
We report two decentralized multi-agent cooperative localization algorithms in which, to reduce the communication cost, inter-agent state estimate correlations are not maintained but accounted for implicitly. In our first algorithm, to…
In this dissertation, we investigate the issue of robust localization in swarms of heterogeneous mobile agents with multiple and time-varying sensing modalities. Our focus is the development of filter-based and decoupled estimators under…
This paper addresses the problem of multitarget tracking using a network of sensing agents with unknown positions. Agents have to both localize themselves in the sensor network and, at the same time, perform multitarget tracking in the…
Set-Membership Filter (SMF) has been extensively studied for state estimation in the presence of bounded noises with unknown statistics. Since it was first introduced in the 1960s, the studies on SMF have used the set-based description as…
In this paper we propose a state space modeling approach for trust evaluation in wireless sensor networks. In our state space trust model (SSTM), each sensor node is associated with a trust metric, which measures to what extent the data…
How to realize high-level autonomy of individuals is one of key technical issues to promote swarm intelligence of multi-agent (node) systems with collective tasks, while the fully distributed design is a potential way to achieve this goal.…
In this paper, we consider networked estimation of linear, discrete-time dynamical systems monitored by a network of agents. In order to minimize the power requirement at the (possibly, battery-operated) agents, we require that the agents…
In this technical note, a recursive set-membership filtering algorithm for discrete-time nonlinear dynamical systems subject to unknown but bounded process and measurement noises is proposed. The nonlinear dynamics is represented in a…
In this paper, we consider a general cooperative wireless sensor network (WSN) with multiple hops and the problem of channel estimation. Two matrix-based set-membership algorithms are developed for the estimation of the complex matrix…