Distributed observers allow each CAV to perform local probabilistic-threshold fault detection and isolation on sensor data in mixed traffic networks without local observability or bounded-noise assumptions.
Bay, Fundamentals of linear state space systems, McGraw-Hill
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Distributed Observer-based Fault Detection over Intelligent Networked Multi-Vehicle Systems
Distributed observers allow each CAV to perform local probabilistic-threshold fault detection and isolation on sensor data in mixed traffic networks without local observability or bounded-noise assumptions.