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— We consider distributed state estimation in a wireless sensor network without a fusion center. Each sensor performs a global estimation task—based on the past and current measurements of all sensors—using only local processing and local communications with its neighbors. In this estimation task, the joint (all-sensors) likelihood function (JLF) plays a… (More)

We propose a distributed implementation of the Gaussian particle filter (GPF) for use in a wireless sensor network. Each sensor runs a local GPF that computes a global state estimate. The updating of the particle weights at each sensor uses the joint likelihood function, which is calculated in a distributed way, using only local communications , via the… (More)

Many models of wireless sensor networks (WSNs) assume a perfect synchronization along the graph of such network as a simplifying assumption. In our contribution we base our investigations of distributed algorithms solving consensus problems on more realistic, asynchronous networks in which nodes randomly transmit to their neighborhood. Following a linear… (More)

—We propose a sequential likelihood consensus (SLC) for a distributed, sequential computation of the joint (all-sensors) likelihood function (JLF) in a wireless sensor network. The SLC is based on a novel dynamic consensus algorithm, of which only a single iteration is performed per time step. We demonstrate the application of the SLC in a distributed… (More)

The major contribution of this paper is the presentation of a general unifying description of distributed algorithms allowing to map local, node-based, algorithms onto a single global, network-based, form. As a first consequence the new description offers to analyze their learning and steady-state behavior by classical methods. A further consequence is the… (More)

We propose an iterative extension of the covariance intersection (CI) algorithm for distributed data fusion. Our iterative CI (ICI) algorithm is able to disseminate local information throughout the network. We show that the ICI algorithm converges asymptotically to a consensus across all network nodes. We furthermore apply the ICI algorithm to distributed… (More)

Following our recently developed method we provide a proof of convergence of the average consensus algorithm with quantized communication links as proposed by Censi and Murray. Using a state-space framework for describing distributed algorithms, we can derive accurate bounds on the drift from the mean for algorithms with noisy links, either caused by an… (More)

—We propose a novel distributed QR factorization algorithm for orthogonalizing a set of vectors in a wireless sensor network. The algorithm originates from the classical Gram-Schmidt orthogonalization which we formulate in a distributed way using the dynamic consensus algorithm. In contrast to existing distributed QR factorization algorithms, all elements… (More)

—We present novel distributed algorithms for estimating the number of nodes in a wireless sensor network without any a-priori knowledge or node preferences. The algorithms originate from distributed forms of Gram-Schmidt orthogona-lization algorithms where the goal is to distributively find a set of orthogonal vectors. Using concepts from linear algebra, by… (More)

In this contribution we present a stronger notion of almost sure convergence for a large class of consensus algorithms including also asynchronous updates. We introduce the concept of the so-called relaxed projection algorithms and show that many consensus algorithms can be interpreted as such relaxed projection updates. It is well known that such… (More)