Decentralized H∞ filtering in a multi-agent system

Authors:
Thomas R. Nelson;Randy A. Freeman
Affiliations:
Department of Electrical Engineering and Computer Science, Northwestern University, Evanston, IL;Department of Electrical Engineering and Computer Science, Northwestern University, Evanston, IL
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

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Abstract

This paper develops a decentralized H∞ filtering algorithm for a mobile sensor network. Each agent maintains an estimate of the target and moves to improve the information from its sensor. Simulation results compare the performance of the multi-agent system to a system using only local estimates when the network is tracking an evasive target.