Distributed Estimation from Relative and Absolute Measurements

Wilbert Samuel Rossi, Paolo Frasca, Fabio Fagnani

    Research output: Contribution to journalArticleAcademicpeer-review

    11 Citations (Scopus)
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    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 languageEnglish
    Pages (from-to)6385-6391
    Number of pages7
    JournalIEEE transactions on automatic control
    Issue number12
    Publication statusPublished - Dec 2017


    • Cooperative control
    • Sensor Networks
    • Distributed Estimation
    • Optimization algorithms
    • n/a OA procedure


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