DocumentCode :
2584361
Title :
Performance limitation in multi-agent estimation with limited sensor measurements
Author :
Diwadkar, Amit ; Vaidya, Umesh
Author_Institution :
Dept. of Electr. & Comput. Eng., Iowa State Univ., Ames, IA, USA
fYear :
2010
fDate :
15-17 Dec. 2010
Firstpage :
6614
Lastpage :
6619
Abstract :
This paper studies the problem of performance limitations in state estimation of multi-agent systems with limited sensor measurement. We model the agents as LTV systems with erasure in output. We first look to design a state observer for a single agent with output measurement erasure, which guarantees a required performance criterion on the error dynamics. The main result shows that fundamental performance limitation arises in state observation of the agent dynamics when we use exponential mean square stability of the estimation error as the performance metric. This limitation is expressed in terms of the characteristic Lyapunov exponents of the agent dynamics and the uncertainty in the measurement. We then apply this result to the multi-agent estimation problem with limited sensor measurements. Separate cases for cooperative and noncooperative behavior among sensors is studied. Simulation results comparing these cases are given.
Keywords :
Lyapunov methods; mean square error methods; multi-agent systems; observers; stability; LTV systems; Lyapunov exponents; error dynamics; exponential mean square stability; limited sensor measurements; multi-agent estimation; multi-agent systems; performance limitation; performance metric; single agent; state estimation; state observer design; Multiagent systems; Observers; Protocols; Stability criteria; Fundamental limitation; Lyapunov exponents; Mean square stability; Multi-agent observers; Random dynamical systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
ISSN :
0743-1546
Print_ISBN :
978-1-4244-7745-6
Type :
conf
DOI :
10.1109/CDC.2010.5718179
Filename :
5718179
Link To Document :
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