Relative Sensing Networks: Observability, Estimation, and the Control Structure

In this paper we consider various structural aspects of estimation and control over relative sensing networks. We first expand on our earlier characterization of equivalent sensing and control topologies that incorporates the presence of measurement noise. Next, we consider the interplay between system minimality, network observability, and estimation problems. We conclude our presentation by pointing out a reciprocity between the relative sensing geometry on one hand, and the control structure for distributed dynamic systems on the other. Simulations and examples are incorporated throughout the paper to further complement the theoretical analysis.