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## Distributed Kalman filtering in sensor networks with quantifiable performance (2005)

Venue: | In 2005 Fourth International Symposium on Information Processing in Sensor Networks (IPSN |

Citations: | 168 - 7 self |

### Citations

1891 | A survey on sensor networks
- Akyildiz, Su, et al.
- 2002
(Show Context)
Citation Context ... sensor networks having only limited communication and routing capabilities. The work of Estrin, Govindan, Heidemann, and Kumar in [2], as well as that of Akyildiz, Su, Sankarasubramniam, and Cayirci =-=[3]-=- present excellent surveys of the challenges associated with this new technology. The work of Zhao, Shin, and Reich [4] addresses similar challenges in dynamically fusing the information collected by ... |

1212 | Coordination of groups of mobile autonomous agents using nearest neighbor rules
- Jadbabaie, Lin, et al.
- 2003
(Show Context)
Citation Context ...cs of coordination mechanisms in networks has attracted much attention in the control and systems community; we refer the reader to the works of Olfati-Saber and Murray [6], Jadbabaie, Lin, and Morse =-=[7]-=-, and references therein for an introduction to recent developments in this area. The former article presents a decentralized “diffusion” mechanism for obtaining weighted averages of individual agent ... |

1088 | Next century challenges: scalable coordination in sensor networks
- Estrin, Govindan, et al.
- 1999
(Show Context)
Citation Context ...ing the networking and computational challenges associated with large sensor networks having only limited communication and routing capabilities. The work of Estrin, Govindan, Heidemann, and Kumar in =-=[2]-=-, as well as that of Akyildiz, Su, Sankarasubramniam, and Cayirci [3] present excellent surveys of the challenges associated with this new technology. The work of Zhao, Shin, and Reich [4] addresses s... |

1029 | Consensus problems in networks of agents with switching topology and timedelays
- Olfati-Saber, Murray
- 2004
(Show Context)
Citation Context ...nd Balakrishnan [5]. The dynamics of coordination mechanisms in networks has attracted much attention in the control and systems community; we refer the reader to the works of Olfati-Saber and Murray =-=[6]-=-, Jadbabaie, Lin, and Morse [7], and references therein for an introduction to recent developments in this area. The former article presents a decentralized “diffusion” mechanism for obtaining weighte... |

654 | Adaptive protocols for information dissemination in wireless sensor networks
- Heinzelman, K, et al.
- 1999
(Show Context)
Citation Context ...ssive communication and computation. This problem has significant implications for networking protocols; this aspect of sensor networks is addressed in the work of Heinzelman, Kulik, and Balakrishnan =-=[5]-=-. The dynamics of coordination mechanisms in networks has attracted much attention in the control and systems community; we refer the reader to the works of Olfati-Saber and Murray [6], Jadbabaie, Lin... |

416 | Fast linear iterations for distributed averaging
- Xiao, Boyd
- 2004
(Show Context)
Citation Context ...n matrix (see the article by Merris [10] for graph-theoretic fundamentals regarding the Laplacian). In the case where centralized topology information is available a priori, the work of Xiao and Boyd =-=[11]-=- provides very useful results for optimizing this convergence rate. Additional work by Xiao, Boyd, and Lall [12] provides an analogous rate optimization for the static least-squares fusion problem. In... |

156 | Agreement over random networks
- Hatano, Mesbahi
- 2005
(Show Context)
Citation Context ...plemented with routing; we only require that this graph encode which nodes can exchange messages. We assume that the graph G is connected, and for the sake of this paper, static. See the work in [6], =-=[13]-=-, [8], and [14] for extensions of this mechanism to switchingtopologies, randomly failing links, asynchronous peer-topeer operation, and arbitrary splitting and merging of subnetworks. A global physic... |

138 |
Laplacian Matrices of Graphs: A Survey, Linear Alg
- Merris
- 1994
(Show Context)
Citation Context ...allows us to derive a bound on the worst-case convergence rate. This quantity is known in graph theory as the algebraic connectivity, and is strongly tied to connectivity properties of the graph (see =-=[10]-=- for a comprehensive exposition). 4. PERFORMANCE ANALYSIS In this section we will show a transfer function characterizing the performance of the distributed estimator in the case where the noise covar... |

64 |
Distributed sensor fusion using dynamic consensus
- Spanos, Olfati-Saber, et al.
- 2005
(Show Context)
Citation Context ...ally, the averaging mechanism is generalized to develop real-time tracking of optimally fused least-squares estimates and an associated decentralized Kalman filter in Spanos, Olfati-Saber, and Murray =-=[9]-=-. The convergence performance of these diffusion-based designs depends on the algebraic connectivity of the network, which is the smallest positive eigenvalue of the associated Laplacian matrix (see t... |

49 |
Dynamic consensus for mobile networks
- Spanos, Olfati-Saber, et al.
(Show Context)
Citation Context ...routing; we only require that this graph encode which nodes can exchange messages. We assume that the graph G is connected, and for the sake of this paper, static. See the work in [6], [13], [8], and =-=[14]-=- for extensions of this mechanism to switchingtopologies, randomly failing links, asynchronous peer-topeer operation, and arbitrary splitting and merging of subnetworks. A global physical process with... |

31 |
A scheme for asynchronous distributed sensor fusion based on average consensus
- Xiao, Boyd, et al.
- 2005
(Show Context)
Citation Context ...where centralized topology information is available a priori, the work of Xiao and Boyd [11] provides very useful results for optimizing this convergence rate. Additional work by Xiao, Boyd, and Lall =-=[12]-=- provides an analogous rate optimization for the static least-squares fusion problem. Input Measurements and Covariance Nonlinear Mapping Fused Measurement and Covariance Dynamic LS Fusion Instantaneo... |

24 |
Fully decentralised algorithm for multisensor Kalman filtering
- Rao, Durrant-Whyte
- 1991
(Show Context)
Citation Context .... BACKGROUND AND PREVIOUS WORK Distributed and decentralized estimation has attracted much attention in the past, and there is a large associated literature. The classic work of Rao and Durrant-Whyte =-=[1]-=- presents an approach to decentralized Kalman filtering which accomplishes globally optimal performance in the case where all sensors can communicate with all other sensors. Further, this design “fail... |

10 |
Distributed averaging on a peer-to-peer network
- Mehyar, Spanos, et al.
- 2005
(Show Context)
Citation Context ... this area. The former article presents a decentralized “diffusion” mechanism for obtaining weighted averages of individual agent inputs in the face of delays and link loss. The work of Mehyar et al. =-=[8]-=- shows that this can be successfully translated to a truly asynchronous peer-to-peer system operating on a TCP/IP network. Finally, the averaging mechanism is generalized to develop real-time tracking... |

2 |
Informationdriven dynamic sensor fusion
- Zhao, Shin, et al.
- 2002
(Show Context)
Citation Context ...nd Kumar in [2], as well as that of Akyildiz, Su, Sankarasubramniam, and Cayirci [3] present excellent surveys of the challenges associated with this new technology. The work of Zhao, Shin, and Reich =-=[4]-=- addresses similar challenges in dynamically fusing the information collected by a large network of sensors, while incorporating the costs associated with excessive communication and computation. This... |