Enforcing and enhancing consensus of spatially distributed filters utilizing mobile sensor networks

Consensus of spatially distributed filters using mobile sensor networks with limited connectivity

“…As it was already pointed out in [17], [9] the above is related to the aggregate state errors δ(t) = 1 m LE(t) where L denotes the graph Laplacian corresponding to a fullconnectivity network. This then leads to the norm bound |δ(t)| X ≤ |E(t)| X The evolution of the cumulative deviation from the mean (aggregate dynamics) is depicted in Figure 2 for both the case of state estimators using mobile sensors with and without consensus.…”