Title :
Communication strategies to ensure generic networked observability in multi-agent systems
Author :
Doostmohammadian, Mohammadreza ; Khan, Usman A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Tufts Univ., Medford, MA, USA
Abstract :
In this paper, we consider the state estimation in linear dynamical systems when their observations are distributed over a network of agents. We provide a Networked Kalman Filtering (NKF) approach exploring both state and observation fusion. Assuming global observability, we study the structure of the agent communication network in order to stabilize the networked estimation error. In particular, we use structured systems theoretic methods to show that the underlying network may recover observability of locally unobservable agents when the system matrices have full structured rank. In this context, we provide strategies to design communication among the agents and study the effectiveness of these links towards networked observability.
Keywords :
linear systems; matrix algebra; multi-agent systems; state estimation; agent communication network; communication strategy; generic networked observability; global observability; linear dynamical system; multiagent system; networked Kalman filtering approach; networked estimation error stability; observation fusion; state estimation; state fusion; structured systems theoretic method; system matrix; Communication networks; Conferences; Estimation error; Kalman filters; Multiagent systems; Observability;
Conference_Titel :
Signals, Systems and Computers (ASILOMAR), 2011 Conference Record of the Forty Fifth Asilomar Conference on
Conference_Location :
Pacific Grove, CA
Print_ISBN :
978-1-4673-0321-7
DOI :
10.1109/ACSSC.2011.6190346
