Abstract
Active-passive dynamic consensus filters consist of agents subject to local observations of a process of interest (active agents) and agents without any observations (passive agents). In this paper, we introduce a new class of active-passive dynamic consensus filters using results from graph theory and systems science. Specifically, the proposed filters only require agents to exchange their current state information with neighbors in a simple and isotropic manner to reduce the overall information exchange cost of the network. In addition, we allow the roles of active and passive agents to be time-varying for making these filters suitable for a wide range of multiagent systems applications. We show that the proposed active-passive dynamic consensus filters enable the states of all agents to converge to an adjustable neighborhood of the average of the observations sensed by a time-varying set of active agents.
Recommended Citation
J. D. Peterson et al., "Generalizations on Active-passive Dynamic Consensus Filters," Proceedings of the American Control Conference, pp. 3740 - 3745, article no. 7525495, Institute of Electrical and Electronics Engineers, Jul 2016.
The definitive version is available at https://doi.org/10.1109/ACC.2016.7525495
Department(s)
Mechanical and Aerospace Engineering
International Standard Book Number (ISBN)
978-146738682-1
International Standard Serial Number (ISSN)
0743-1619
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 Institue of Electrical and Electronicis Engineers, All rights reserved.
Publication Date
28 Jul 2016
