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Unifying Consensus and Covariance Intersection for Efficient Distributed State Estimation Over Unreliable Networks

Amirhossein Tamjidi, Reza Oftadeh, Mohamed Naveed Gul Mohamed, Dan Yu, Suman Chakravorty, Dylan Shell
2021 IEEE Transactions on robotics  
This thesis studies the problem of recursive distributed state estimation over unreliable networks. The main contribution is to fuse the independent and dependent information separately.  ...  I establish bounds for estimation performance and show that my method produces unbiased conservative estimates that are better than Iterative Covariance Intersection (ICI).  ...  Reprinted, with permission, from Amirhossein Tamjidi, Suman Chakravorty, and Dylan Shell, "Unifying consensus and covariance intersection for decentralized state estimation" In IEEE/RSJ International Conference  ... 
doi:10.1109/tro.2021.3064102 fatcat:ofh24d5xpng27nqlhw5yo6kcai

Self-Organizing Distributed State Estimators [chapter]

Joris Sijs, Zoltan Papp
2012 Intelligent Sensor Networks  
To that extent, a number of distributed state estimation solutions that are suitable for networked systems in general are overviewed, after which robustness of the system is improved according to various  ...  Distributed solutions for signal processing techniques are important for establishing large-scale monitoring and control applications.  ...  Such methods seek for a more efficient use of the spatially distributed computation and sensing resources according to the network topology.  ... 
doi:10.1201/b14300-26 fatcat:xsrtum2k6fbfvb6bmil2c7fmvi

2013 Index IEEE Transactions on Automatic Control Vol. 58

2013 IEEE Transactions on Automatic Control  
., and Shroff, N. B  ...  State Prediction for a Networked Dynamical System; TAC Nov. 2013 2756-2771 Zhou, Z., Fang, H., and Hong, Y., Distributed Estimation for Moving Target Based on State-Consensus Strategy; TAC Aug. 2013 2096  ...  ., +, TAC Dec. 2013 3255-3259 Distributed Estimation for Moving Target Based on State-Consensus Strategy.  ... 
doi:10.1109/tac.2013.2295962 fatcat:3zpqog4r4nhoxgo4vodx4sj3l4

A Combined Multiple Model Adaptive Control Scheme and Its Application to Nonlinear Systems With Nonlinear Parameterization

Weitian Chen, Brian D. O. Anderson
2012 IEEE Transactions on Automatic Control  
., Distributed Parameter Estimation Over Unreliable Networks With Markovian Switching Topologies; TAC Oct. 2012 2545-2560 Zhang, W., and Chen, B.  ...  ., +, TAC March 2012 760-765 Distributed Parameter Estimation Over Unreliable Networks With Mar- kovian Switching Topologies.  ... 
doi:10.1109/tac.2011.2176162 fatcat:2airdooti5fi7kmuozmodywcga

2020 Index IEEE Transactions on Systems, Man, and Cybernetics: Systems Vol. 50

2020 IEEE Transactions on Systems, Man & Cybernetics. Systems  
Departments and other items may also be covered if they have been judged to have archival value. The Author Index contains the primary entry for each item, listed under the first author's name.  ...  The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  Robust Distributed H ∞ State Estimation for Stochastic Periodic Systems Over Constraint Sensor Networks.  ... 
doi:10.1109/tsmc.2021.3054492 fatcat:zartzom6xvdpbbnkcw7xnsbeqy

Scaling-up Distributed Processing of Data Streams for Machine Learning [article]

Matthew Nokleby, Haroon Raja, Waheed U. Bajwa
2020 arXiv   pre-print
incoming data for distributed training under constraints on computing capabilities and/or communications rate?  ...  accounts for the mismatch between computation, communication and streaming rates.  ...  tend to be slower and unreliable.  ... 
arXiv:2005.08854v2 fatcat:y6fvajvq2naajeqs6lo3trrgwy

Multisensor data fusion: A review of the state-of-the-art

Bahador Khaleghi, Alaa Khamis, Fakhreddine O. Karray, Saiedeh N. Razavi
2013 Information Fusion  
This paper proposes a comprehensive review of the data fusion state of the art, exploring its conceptualizations, benefits, and challenging aspects, as well as existing methodologies.  ...  Therefore, there seems to be a real need for an analytical review of recent developments in the data fusion domain.  ...  LE provides a tighter estimate of covariance matrix by finding the largest ellipse that fits within the intersection region of the input covariances.  ... 
doi:10.1016/j.inffus.2011.08.001 fatcat:42ca63cpqzea3o2w7wuzwwvy7e

Distributed particle filtering in agent networks: A survey, classification, and comparison

O. Hlinka, F. Hlawatsch, P. M. Djuric
2013 IEEE Signal Processing Magazine  
DPF algorithms are attractive for large-scale, nonlinear, and non-Gaussian distributed estimation problems that often occur in applications involving agent networks (ANs).  ...  Distributed Estimation in Agent Networks Some examples of ANs are wireless sensor networks [5], sensor/actuator networks [6], robotic networks [7], networks of unmanned aerial vehicles (UAVs) [8], and  ...  Acknowledgments We are grateful to the anonymous reviewers for numerous constructive comments and suggestions, which resulted in an improvement of this article.  ... 
doi:10.1109/msp.2012.2219652 fatcat:eerflid3zrdalj2wauhw2vasga

Control Theory: A Mathematical Perspective on Cyber-Physical Systems

Frank Allgöwer, Uwe Helmke, Naomi Leonard
2015 Oberwolfach Reports  
Special focus was on the dynamics and control of networks of systems, distributed optimization and formation control, fundamentals of nonlinear interconnected systems, as well as open problems in control  ...  many network control applications.  ...  Distributed Optimization over Networks Angelia Nedić We will overview some of the distributed optimization frameworks developed over the recent years for optimizing in time-varying networks, where the  ... 
doi:10.4171/owr/2015/12 fatcat:wryzetfs2jgunaalaqyl7nbhv4

Motion Estimation Using Region-Level Segmentation and Extended Kalman Filter for Autonomous Driving

Hongjian Wei, Yingping Huang, Fuzhi Hu, Baigan Zhao, Zhiyang Guo, Rui Zhang
2021 Remote Sensing  
This paper presents a novel approach to estimate the motion state by using region-level instance segmentation and extended Kalman filter (EKF).  ...  In the stage of parameter estimate, we develop a relative motion model of the ego-vehicle and the object, and accordingly establish an EKF model for point tracking and parameter estimate.  ...  For sake of tracking reliability and computation efficiency, it is essential to select reliable feature points for tracking and estimation.  ... 
doi:10.3390/rs13091828 fatcat:pbxdishdtnh4tdo5uhxydw7rhi

Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems [article]

Amanda Prorok, Matthew Malencia, Luca Carlone, Gaurav S. Sukhatme, Brian M. Sadler, Vijay Kumar
2021 arXiv   pre-print
However, the property of robustness is often underpinned by costly requirements such as over-provisioning, known uncertainty and predictive models, and known adversaries.  ...  One of our key contributions is a formal taxonomy of approaches, which also helps us discuss the defining factors and stressors for a resilient system.  ...  The fundamental problem of robust estimation has a long history and there are well established frameworks to model estimation problems with outliers, including M-estimation and consensus maximization  ... 
arXiv:2109.12343v1 fatcat:vxt62eluljfelcifzdlosv34cq

Random set theoretic soft/hard data fusion framework

Bahador Khaleghi, Fakhreddine Karray
2014 IEEE Transactions on Aerospace and Electronic Systems  
The goal is to estimate the state, e.g. position and/or velocity, for the single target of interest over time.  ...  LE provides a tighter estimate of covariance matrix by finding the largest ellipse that fits within the intersection region of the input covariances.  ... 
doi:10.1109/taes.2014.120621 fatcat:r2uxjyakejb4xjdz4emp7faiiq

Design of large polyphase filters in the Quadratic Residue Number System

Gian Carlo Cardarilli, Alberto Nannarelli, Yann Oster, Massimo Petricca, Marco Re
2010 2010 Conference Record of the Forty Fourth Asilomar Conference on Signals, Systems and Computers  
Tp8a2-4 Coding perspectives for Collaborative Estimation over Networks Sivagnanasundaram Ramanan, John Walsh, Drexel University A collaborative distributed estimation problem over a communication constrained  ...  We model the sensor network as a connected graph and show that the gossip-based distributed consensus can be used to update the estimates at each iteration of the DSAGE algorithm.  ... 
doi:10.1109/acssc.2010.5757589 fatcat:ccxnu5owr5fyrcjcqukumerueq

Modelling the dynamic pattern of surface area in basketball and its effects on team performance

Rodolfo Metulini, Marica Manisera, Paola Zuccolotto
2018 Journal of Quantitative Analysis in Sports (JQAS)  
association between the surface area dynamics and the points scored by the team and the opponent.  ...  We carry out the proposed procedure using real data and, in the analyzed case studies, we find that structural changes are strongly associated to offensive and defensive game phases and that there is some  ...  C0364: Normalizations in derived networks Presenter: Vladimir Batagelj, IMFM, Slovenia Linked networks are collections of networks over at least two sets and consist of some one-mode networks over single  ... 
doi:10.1515/jqas-2018-0041 fatcat:b3qwsi7tqjg2vdo7gbjtiorv6m

Point-of-Interest Recommendation [chapter]

2017 Encyclopedia of GIS  
and insect feeding patterns for mosquito-borne diseases.  ...  Efficient use of these interventions requires targeting sub-  ...  When routing packets over a wireless ad-hoc network, the state of the interactor and the the connectivity of the underlying network changes rapidly.  ... 
doi:10.1007/978-3-319-17885-1_100975 fatcat:myyebmb3hrhgnpqmobyyvm2xum
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