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Distributed Estimation from Relative and Absolute Measurements

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 graph-theoretic properties of its encoding. This fact indicates that only a limited cooperation between the sensors is necessary.
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Submitted on : Thursday, October 10, 2019 - 8:38:58 PM
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Wilbert Samuel Rossi, Paolo Frasca, Fabio Fagnani. Distributed Estimation from Relative and Absolute Measurements. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2017, 62 (12), pp.6385-6391. ⟨10.1109/TAC.2017.2661400⟩. ⟨hal-01614098⟩

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