A distributed observer combines local innovation and neighbor consensus to estimate target states as integrator chains from bearing measurements, with uniform global exponential stability conditions depending on agent geometry.
(2015), ‘Consensus-based linear and non- linear filtering’, IEEE Transactions on Automatic Control 60(5), 1410–1415
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Distributed consensus-based observer design for target state estimation with bearing measurements
A distributed observer combines local innovation and neighbor consensus to estimate target states as integrator chains from bearing measurements, with uniform global exponential stability conditions depending on agent geometry.