Multi-Agent Estimation and Filtering for Minimizing Team Mean-Squared Error

نویسندگان

چکیده

Motivated by estimation problems arising in autonomous vehicles and decentralized control of unmanned aerial vehicles, we consider multi-agent filtering which multiple agents generate state estimates based on information the objective is to minimize a coupled mean-squared error call team mean-square error . We resulting as minimum team (MTMSE) estimates. show that MTMSE are different from (MMSE) derive closed-form expressions for estimates, linear function observations where corresponding gain depends weight matrix couples error. then problem stochastic process monitored can share their (with delay) over communication graph. recursively compute To illustrate effectiveness proposed scheme an example estimating distances between platoon significantly outperform MMSE consensus Kalman

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ژورنال

عنوان ژورنال: IEEE Transactions on Signal Processing

سال: 2021

ISSN: ['1053-587X', '1941-0476']

DOI: https://doi.org/10.1109/tsp.2021.3104981