Bibliographic Review on Distributed Kalman Filtering

In recent years, a compelling need has arisen to understand the effects of distributed information structures on estimation and filtering. In this paper, a bibliographical review on distributed Kalman filtering (DKF) is provided.\ud The paper contains a classification of different approaches and methods involved to DKF. The applications of DKF are also discussed and explained separately. A comparison of different approaches is briefly carried out. Focuses on the contemporary research are also addressed with emphasis on the practical applications of the techniques. An exhaustive list of publications, linked directly or indirectly to DKF in the open literature, is compiled to provide an overall picture of different developing aspects of this area

Gossip Algorithms for Distributed Signal Processing

Gossip algorithms are attractive for in-network processing in sensor networks because they do not require any specialized routing, there is no bottleneck or single point of failure, and they are robust to unreliable wireless network conditions. Recently, there has been a surge of activity in the computer science, control, signal processing, and information theory communities, developing faster and more robust gossip algorithms and deriving theoretical performance guarantees. This article presents an overview of recent work in the area. We describe convergence rate results, which are related to the number of transmitted messages and thus the amount of energy consumed in the network for gossiping. We discuss issues related to gossiping over wireless links, including the effects of quantization and noise, and we illustrate the use of gossip algorithms for canonical signal processing tasks including distributed estimation, source localization, and compression.Comment: Submitted to Proceedings of the IEEE, 29 page

In-Network Outlier Detection in Wireless Sensor Networks

To address the problem of unsupervised outlier detection in wireless sensor networks, we develop an approach that (1) is flexible with respect to the outlier definition, (2) computes the result in-network to reduce both bandwidth and energy usage,(3) only uses single hop communication thus permitting very simple node failure detection and message reliability assurance mechanisms (e.g., carrier-sense), and (4) seamlessly accommodates dynamic updates to data. We examine performance using simulation with real sensor data streams. Our results demonstrate that our approach is accurate and imposes a reasonable communication load and level of power consumption.Comment: Extended version of a paper appearing in the Int'l Conference on Distributed Computing Systems 200

On the Medium Access Control Protocols Suitable for Wireless Sensor Networks – A Survey

A MAC (Medium Access Control) protocol has direct impact on the energy efficiency and traffic characteristics of any Wireless Sensor Network (WSN). Due to the inherent differences in WSN’s requirements and application scenarios, different kinds of MAC protocols have so far been designed especially targeted to WSNs, though the primary mode of communications is wireless like any other wireless network. This is the subject topic of this survey work to analyze various aspects of the MAC protocols proposed for WSNs. To avoid collision and ensure reliability, before any data transmission between neighboring nodes in MAC layer, sensor nodes may need sampling channel and synchronizing. Based on these needs, we categorize the major MAC protocols into three classes, analyze each protocol’s relative advantages and disadvantages, and finally present a comparative summary which could give a snapshot of the state-of-the-art to guide other researchers find appropriate areas to work on. In spite of various existing survey works, we have tried to cover all necessary aspects with the latest advancements considering the major works in this area

Cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging

The implementation challenges of cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging are discussed and work on the subject is reviewed. System architecture and sensor fusion are identified as key challenges. A partially decentralized system architecture based on step-wise inertial navigation and step-wise dead reckoning is presented. This architecture is argued to reduce the computational cost and required communication bandwidth by around two orders of magnitude while only giving negligible information loss in comparison with a naive centralized implementation. This makes a joint global state estimation feasible for up to a platoon-sized group of agents. Furthermore, robust and low-cost sensor fusion for the considered setup, based on state space transformation and marginalization, is presented. The transformation and marginalization are used to give the necessary flexibility for presented sampling based updates for the inter-agent ranging and ranging free fusion of the two feet of an individual agent. Finally, characteristics of the suggested implementation are demonstrated with simulations and a real-time system implementation.Comment: 14 page

Amorphous Placement and Informed Diffusion for Timely Monitoring by Autonomous, Resource-Constrained, Mobile Sensors

Personal communication devices are increasingly equipped with sensors for passive monitoring of encounters and surroundings. We envision the emergence of services that enable a community of mobile users carrying such resource-limited devices to query such information at remote locations in the field in which they collectively roam. One approach to implement such a service is directed placement and retrieval (DPR), whereby readings/queries about a specific location are routed to a node responsible for that location. In a mobile, potentially sparse setting, where end-to-end paths are unavailable, DPR is not an attractive solution as it would require the use of delay-tolerant (flooding-based store-carry-forward) routing of both readings and queries, which is inappropriate for applications with data freshness constraints, and which is incompatible with stringent device power/memory constraints. Alternatively, we propose the use of amorphous placement and retrieval (APR), in which routing and field monitoring are integrated through the use of a cache management scheme coupled with an informed exchange of cached samples to diffuse sensory data throughout the network, in such a way that a query answer is likely to be found close to the query origin. We argue that knowledge of the distribution of query targets could be used effectively by an informed cache management policy to maximize the utility of collective storage of all devices. Using a simple analytical model, we show that the use of informed cache management is particularly important when the mobility model results in a non-uniform distribution of users over the field. We present results from extensive simulations which show that in sparsely-connected networks, APR is more cost-effective than DPR, that it provides extra resilience to node failure and packet losses, and that its use of informed cache management yields superior performance

Energy-efficient data acquisition for accurate signal estimation in wireless sensor networks

Long-term monitoring of an environment is a fundamental requirement for most wireless sensor networks. Owing to the fact that the sensor nodes have limited energy budget, prolonging their lifetime is essential in order to permit long-term monitoring. Furthermore, many applications require sensor nodes to obtain an accurate estimation of a point-source signal (for example, an animal call or seismic activity). Commonly, multiple sensor nodes simultaneously sample and then cooperate to estimate the event signal. The selection of cooperation nodes is important to reduce the estimation error while conserving the network’s energy. In this paper, we present a novel method for sensor data acquisition and signal estimation, which considers estimation accuracy, energy conservation, and energy balance. The method, using a concept of ‘virtual clusters,’ forms groups of sensor nodes with the same spatial and temporal properties. Two algorithms are used to provide functionality. The ‘distributed formation’ algorithm automatically forms and classifies the virtual clusters. The ‘round robin sample scheme’ schedules the virtual clusters to sample the event signals in turn. The estimation error and the energy consumption of the method, when used with a generalized sensing model, are evaluated through analysis and simulation. The results show that this method can achieve an improved signal estimation while reducing and balancing energy consumption