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.
(1999), ‘Target tracking with bearings - Only measurements’, Signal Processing 78(1), 61–78
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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.