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Distributed estimation with information-seeking control in agent networks

F. Meyer ; Henk Wymeersch (Institutionen för signaler och system, Kommunikationssystem) ; Markus Fröhle (Institutionen för signaler och system, Kommunikationssystem) ; F. Hlawatsch
IEEE Journal on Selected Areas in Communications (0733-8716). Vol. 33 (2015), 11, p. 2439-2456.
[Artikel, refereegranskad vetenskaplig]

We introduce a distributed cooperative framework and method for Bayesian estimation and control in decentralized agent networks. Our framework combines joint estimation of time-varying global and local states with information-seeking control optimizing the behavior of the agents. It is suited to nonlinear and non-Gaussian problems and, in particular, to location-aware networks. For cooperative estimation, a combination of belief propagation message passing and consensus is used. For cooperative control, the negative posterior joint entropy of all states is maximized via a gradient ascent. The estimation layer provides the control layer with probabilistic information in the form of sample representations of probability distributions. Simulation results demonstrate intelligent behavior of the agents and excellent estimation performance for a simultaneous self-localization and target tracking problem. In a cooperative localization scenario with only one anchor, mobile agents can localize themselves after a short time with an accuracy that is higher than the accuracy of the performed distance measurements.

Nyckelord: Agent networks, belief propagation, consensus, cooperative localization, distributed control, distributed estimation, distributed target tracking, information-seeking control, message passing, sensor networks, sequential estimation



Denna post skapades 2015-11-11. Senast ändrad 2016-12-06.
CPL Pubid: 225622

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Kommunikationssystem

Ämnesområden

Telekommunikation

Chalmers infrastruktur

 


Projekt

Denna publikation är ett resultat av följande projekt:


Cooperative Situational Awareness for Wireless Networks (COOPNET) (EC/FP7/258418)