Consensus-plus-innovations decentralized estimation converges in mean square and almost surely under stochastic spatio-temporal persistence of excitation, even with correlated random graphs, observation matrices, and communication delays.
Covariance intersection algorithm for distributed spacecraft state estimation
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Decentralized Cooperative Online Estimation With Random Observation Matrices, Communication Graphs and Time Delays
Consensus-plus-innovations decentralized estimation converges in mean square and almost surely under stochastic spatio-temporal persistence of excitation, even with correlated random graphs, observation matrices, and communication delays.