Abstract
This note defines the problem of least-squares distributed estimation from relative and absolute measurements, by encoding the set of measurements in a weighted undirected graph. The role of its topology is studied by an electrical interpretation, which easily allows distinguishing between topologies that lead to “small” or “large” estimation errors. The least-squares problem is solved by a distributed gradient algorithm: the computed solution is approximately optimal after a number of steps that does not depend on the size of the problem or on the graphtheoretic properties of its encoding. This fact indicates that only a limited cooperation between the sensors is necessary.
Original language | English |
---|---|
Pages (from-to) | 6385-6391 |
Number of pages | 7 |
Journal | IEEE transactions on automatic control |
Volume | 62 |
Issue number | 12 |
DOIs | |
Publication status | Published - Dec 2017 |
Keywords
- Cooperative control
- Sensor Networks
- Distributed Estimation
- Optimization algorithms
- n/a OA procedure