Related papers: Cooperative Filtering with Range Measurements: A D…

A distributed adaptive algorithm to estimate a time-varying signal, measured by a wireless sensor network, is designed and analyzed. One of the major features of the algorithm is that no central coordination among the nodes needs to be…

This paper considers the problem of distributed estimation in a sensor network, where multiple sensors are deployed to infer the state of a linear time-invariant (LTI) Gaussian system. By proposing a lossless decomposition of Kalman filter,…

The problem of distributed identification of linear stochastic system with unknown coefficients over time-varying networks is considered. For estimating the unknown coefficients, each agent in the network can only access the input and the…

This paper presents a method to improve the localization accuracy of robots operating in a range-based localization network. The method is favorable especially when the robots operate in harsh environments where the access to a robust and…

We present distributed algorithms that can be used by multiple agents to align their estimates with a particular value over a network with time-varying connectivity. Our framework is general in that this value can represent a consensus…

This paper addresses the sweep coverage problem of multi-agent systems in uncertain regions. A new formulation of distributed sweep coverage is proposed to cooperatively complete the workload in the uncertain region. Specifically, each…

The paper studies the problem of distributed parameter estimation in multi-agent networks with exponential family observation statistics. A certainty-equivalence type distributed estimator of the consensus + innovations form is proposed in…

This paper addresses distributed average tracking for a group of physical double-integrator agents under an undirected graph with reduced requirement on velocity measurements. The idea is that multiple agents track the average of multiple…

In this note, the problem of simultaneous leader-following consensus and parameter estimation is studied for a class of multi-agent systems subject to an uncertain leader system. The leader system is described by a sum of sinusoids with…

This paper studies the distributed state estimation problem for a class of discrete-time stochastic systems with nonlinear uncertain dynamics over time-varying topologies of sensor networks. An extended state vector consisting of the…

Distributed consensus has been widely studied for sensor network applications. Whereas the asymptotic convergence rate has been extensively explored in prior work, other important and practical issues, including energy efficiency and link…

We consider several estimation and learning problems that networked agents face when making decisions given their uncertainty about an unknown variable. Our methods are designed to efficiently deal with heterogeneity in both size and…

In this paper, we address the problem of controlling a network of mobile sensors so that a set of hidden states are estimated up to a user-specified accuracy. The sensors take measurements and fuse them online using an Information Consensus…

This paper addresses the distributed localization problem for a network of sensors placed in a three-dimensional space, in which sensors are able to perform range measurements, i.e., measure the relative distance between them, and exchange…

Many of the distributed localization algorithms are based on relaxed optimization formulations of the localization problem. These algorithms commonly rely on first-order optimization methods, and hence may require many iterations or…

This paper focuses on learning efficient sensor allocations that ensure observability of unknown high-dimensional linear systems using only a small number of sensors. Existing methods either require an impractically large number of sensors…

Distributed signal-processing algorithms in (wireless) sensor networks often aim to decentralize processing tasks to reduce communication cost and computational complexity or avoid reliance on a single device (i.e., fusion center) for…

We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of…

This paper presents new methods for set-valued state estimation and active fault diagnosis of linear descriptor systems. The algorithms are based on constrained zonotopes, a generalization of zonotopes capable of describing strongly…

We consider the problem of estimating the states of a distributed network of nodes (targets) through a team of cooperating agents (sensors) persistently visiting the nodes so that an overall measure of estimation error covariance evaluated…