DocumentCode
3550823
Title
Multi-agent Kalman consensus with relative uncertainty
Author
Ren, Wei ; Beard, Randal W. ; Kingston, Derek B.
Author_Institution
Space Syst. Lab., Maryland Univ., Baltimore, MD, USA
fYear
2005
fDate
8-10 June 2005
Firstpage
1865
Abstract
In this paper, we propose discrete-time and continuous-time consensus update schemes motivated by the discrete-time and continuous-time Kalman filters. With certainty information encoded into each agent, the proposed consensus schemes explicitly account for relative confidence/reliability of information states from each agent in the team. We show mild sufficient conditions under which consensus can be achieved using the proposed consensus schemes in the presence of switching interaction topologies.
Keywords
Kalman filters; continuous time filters; discrete time filters; multi-agent systems; Kalman filters; continuous-time system; discrete-time system; multi-agent Kalman consensus; switching interaction topologies; Call conference; Communication system control; Environmental factors; Global communication; Kalman filters; Network topology; Sufficient conditions; Uncertainty; Vehicles; Wireless communication;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2005. Proceedings of the 2005
ISSN
0743-1619
Print_ISBN
0-7803-9098-9
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2005.1470240
Filename
1470240
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