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DISTRIBUTED SENSOR FUSION USING DYNAMIC CONSENSUS

DISTRIBUTED SENSOR FUSION USING DYNAMIC CONSENSUS,Demetri P. Spanos,Reza Olfati-Saber,Richard M. Murray

DISTRIBUTED SENSOR FUSION USING DYNAMIC CONSENSUS   (Citations: 75)
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This work is an extension to a companion paper describing dynamic consensus of networked agents, and shows how those results can be applied to obtain a distributed Kalman fllter for a network of agents. The underlying mechanism is the Laplacian consensus dynamics, which utilizes peer-to-peer interactions, and is very robust to time-varying topology changes. The performance of the distributed estimator is analyzable in terms of properties of the network, and degrades gracefully with decreasing network performance. Further, this mechanism can be used in a natively asynchronous mode, making it appropriate for real-world peer-to-peer networks.
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