Adaptive Consensus Averaging for Information Fusion over Sensor Networks

This paper introduces adaptive consensus, a spatio-temporal adaptive method to improve convergence behavior of the current consensus fusion schemes. This is achieved by introducing a time adaptive weighting method for updating each sensor data in each iteration. Adaptive consensus method will improve node convergence rate, average convergence rate and the variance of error over the network. A mathematical formulation of the method according to the adaptive filter theory as well as derivation of the time adaptive weights and convergence conditions are presented. The analytical results are verified by simulation as well