DocumentCode :
3339199
Title :
A scheme for robust distributed sensor fusion based on average consensus
Author :
Xiao, Lin ; Boyd, Stephen ; Lall, Sanjay
Author_Institution :
Center for the Math. of Inf., California Inst. of Technol., Pasadena, CA, USA
fYear :
2005
fDate :
38457
Firstpage :
63
Lastpage :
70
Abstract :
We consider a network of distributed sensors, where where each sensor takes a linear measurement of some unknown parameters, corrupted by independent Gaussian noises. We propose a simple distributed iterative scheme, based on distributed average consensus in the network, to compute the maximum-likelihood estimate of the parameters. This scheme doesn´t involve explicit point-to-point message passing or routing; instead, it diffuses information across the network by updating each node´s data with a weighted average of its neighbors´ data (they maintain the same data structure). At each step, every node can compute a local weighted least-squares estimate, which converges to the global maximum-likelihood solution. This scheme is robust to unreliable communication links. We show that it works in a network with dynamically changing topology, provided that the infinitely occurring communication graphs are jointly connected.
Keywords :
Gaussian noise; distributed sensors; graph theory; iterative methods; least squares approximations; maximum likelihood estimation; sensor fusion; telecommunication links; telecommunication network topology; communication graph; distributed average consensus; distributed iterative scheme; dynamically changing topology; independent Gaussian noise; linear measurement; local weighted least-squares estimate; maximum-likelihood estimate; robust distributed sensor fusion; unreliable communication link; Computer networks; Distributed computing; Gaussian noise; Maximum likelihood estimation; Message passing; Noise measurement; Noise robustness; Parameter estimation; Routing; Sensor fusion;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Information Processing in Sensor Networks, 2005. IPSN 2005. Fourth International Symposium on
Print_ISBN :
0-7803-9201-9
Type :
conf
DOI :
10.1109/IPSN.2005.1440896
Filename :
1440896
Link To Document :
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