Consensus based overlapping decentralized estimator

Srdjan S. Stanković, Miloš S. Stanković, Dušan M. Stipanović

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper a new algorithm for state estimation is proposed in the form of a multi-agent network based on a synergy between local Kalman filters and a dynamic consensus strategy between the agents. It is shown that it is possible, under very general conditions concerning local resources and the network topology, to achieve asymptotic stability of the whole estimation algorithm by a proper choice of the consensus gains. It is demonstrated that the consensus gains can be obtained by minimizing the total mean-square estimation error. A number of examples illustrate efficiency and applicability of the proposed methodology.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 American Control Conference, ACC
Number of pages6
StatePublished - 2007
Event2007 American Control Conference, ACC - New York, NY, United States
Duration: Jul 9 2007Jul 13 2007

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2007 American Control Conference, ACC
Country/TerritoryUnited States
CityNew York, NY


  • Consensus strategy
  • Decentralized estimation
  • Multi-agent systems
  • Optimization
  • Overlapping decomposition
  • Stability analysis

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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