Consensus based overlapping decentralized estimator

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

Research output: Contribution to journalArticlepeer-review


In this technical note 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 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. Capabilities of the network to achieve reduction of the measurement noise influence are also discussed.

Original languageEnglish (US)
Pages (from-to)410-415
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number2
StatePublished - 2009


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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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