TY - GEN
T1 - A distributed local Kalman consensus filter for traffic estimation
AU - Sun, Ye
AU - Work, Daniel B.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014
Y1 - 2014
N2 - This work proposes a distributed local Kalman consensus filter (DLKCF) for large-scale multi-agent traffic density estimation. The switching mode model (SMM) is used to describe the traffic dynamics on a stretch of roadway, and the model dynamics are linear within each mode. The error dynamics of the proposed DLKCF is shown to be globally asymptotically stable (GAS) when all freeway sections switch between observable modes. For an unobservable section, we prove that the estimates given by the DLKCF are ultimately bounded. Numerical experiments are provided to show the asymptotic stability of the DLKCF for observable modes, and illustrate the effect of the DLKCF on promoting consensus among various local agents. Supplementary source code is available at https://github.com/yesun/DLKCFcdc2014.
AB - This work proposes a distributed local Kalman consensus filter (DLKCF) for large-scale multi-agent traffic density estimation. The switching mode model (SMM) is used to describe the traffic dynamics on a stretch of roadway, and the model dynamics are linear within each mode. The error dynamics of the proposed DLKCF is shown to be globally asymptotically stable (GAS) when all freeway sections switch between observable modes. For an unobservable section, we prove that the estimates given by the DLKCF are ultimately bounded. Numerical experiments are provided to show the asymptotic stability of the DLKCF for observable modes, and illustrate the effect of the DLKCF on promoting consensus among various local agents. Supplementary source code is available at https://github.com/yesun/DLKCFcdc2014.
UR - http://www.scopus.com/inward/record.url?scp=84961991063&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84961991063&partnerID=8YFLogxK
U2 - 10.1109/CDC.2014.7040406
DO - 10.1109/CDC.2014.7040406
M3 - Conference contribution
AN - SCOPUS:84961991063
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 6484
EP - 6491
BT - 53rd IEEE Conference on Decision and Control,CDC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014
Y2 - 15 December 2014 through 17 December 2014
ER -