Distributed Constrained Recursive Nonlinear Least-Squares Estimation: Algorithms and Asymptotics

This paper focuses on the problem of recursive nonlinear least squares parameter estimation in multi-agent networks, in which the individual agents observe sequentially over time an independent and identically distributed (i.i.d.) time-series consisting of a nonlinear function of the true but unknown parameter corrupted by noise. A distributed recursive estimator of the \emph{consensus} + \emph{innovations} type, namely $\mathcal{CIWNLS}$, is proposed, in which the agents update their parameter estimates at each observation sampling epoch in a collaborative way by simultaneously processing the latest locally sensed information~(\emph{innovations}) and the parameter estimates from other agents~(\emph{consensus}) in the local neighborhood conforming to a pre-specified inter-agent communication topology. Under rather weak conditions on the connectivity of the inter-agent communication and a \emph{global observability} criterion, it is shown that at every network agent, the proposed algorithm leads to consistent parameter estimates. Furthermore, under standard smoothness assumptions on the local observation functions, the distributed estimator is shown to yield order-optimal convergence rates, i.e., as far as the order of pathwise convergence is concerned, the local parameter estimates at each agent are as good as the optimal centralized nonlinear least squares estimator which would require access to all the observations across all the agents at all times. In order to benchmark the performance of the proposed distributed $\mathcal{CIWNLS}$ estimator with that of the centralized nonlinear least squares estimator, the asymptotic normality of the estimate sequence is established and the asymptotic covariance of the distributed estimator is evaluated. Finally, simulation results are presented which illustrate and verify the analytical findings.Comment: 28 pages. Initial Submission: Feb. 2016, Revised: July 2016, Accepted: September 2016, To appear in IEEE Transactions on Signal and Information Processing over Networks: Special Issue on Inference and Learning over Network

Distributed Local Linear Parameter Estimation using Gaussian SPAWN

We consider the problem of estimating local sensor parameters, where the local parameters and sensor observations are related through linear stochastic models. Sensors exchange messages and cooperate with each other to estimate their own local parameters iteratively. We study the Gaussian Sum-Product Algorithm over a Wireless Network (gSPAWN) procedure, which is based on belief propagation, but uses fixed size broadcast messages at each sensor instead. Compared with the popular diffusion strategies for performing network parameter estimation, whose communication cost at each sensor increases with increasing network density, the gSPAWN algorithm allows sensors to broadcast a message whose size does not depend on the network size or density, making it more suitable for applications in wireless sensor networks. We show that the gSPAWN algorithm converges in mean and has mean-square stability under some technical sufficient conditions, and we describe an application of the gSPAWN algorithm to a network localization problem in non-line-of-sight environments. Numerical results suggest that gSPAWN converges much faster in general than the diffusion method, and has lower communication costs, with comparable root mean square errors

Distributed Detection and Estimation in Wireless Sensor Networks

In this article we consider the problems of distributed detection and estimation in wireless sensor networks. In the first part, we provide a general framework aimed to show how an efficient design of a sensor network requires a joint organization of in-network processing and communication. Then, we recall the basic features of consensus algorithm, which is a basic tool to reach globally optimal decisions through a distributed approach. The main part of the paper starts addressing the distributed estimation problem. We show first an entirely decentralized approach, where observations and estimations are performed without the intervention of a fusion center. Then, we consider the case where the estimation is performed at a fusion center, showing how to allocate quantization bits and transmit powers in the links between the nodes and the fusion center, in order to accommodate the requirement on the maximum estimation variance, under a constraint on the global transmit power. We extend the approach to the detection problem. Also in this case, we consider the distributed approach, where every node can achieve a globally optimal decision, and the case where the decision is taken at a central node. In the latter case, we show how to allocate coding bits and transmit power in order to maximize the detection probability, under constraints on the false alarm rate and the global transmit power. Then, we generalize consensus algorithms illustrating a distributed procedure that converges to the projection of the observation vector onto a signal subspace. We then address the issue of energy consumption in sensor networks, thus showing how to optimize the network topology in order to minimize the energy necessary to achieve a global consensus. Finally, we address the problem of matching the topology of the network to the graph describing the statistical dependencies among the observed variables.Comment: 92 pages, 24 figures. To appear in E-Reference Signal Processing, R. Chellapa and S. Theodoridis, Eds., Elsevier, 201

Modern Clustering Techniques in Wireless Sensor Networks

Wireless sensor networks (WSNs) are employed in various applications from healthcare to military. Due to their limited, tiny power sources, energy becomes the most precious resource for sensor nodes in such networks. To optimize the usage of energy resources, researchers have proposed several ideas from diversified angles. Clustering of nodes plays an important role in conserving energy of WSNs. Clustering approaches focus on resolving the conflicts arising in effective data transmission. In this chapter, we have outlined a few modern energy-efficient clustering approaches to improve the lifetime of WSNs. The proposed clustering methods are: (i) fuzzy-logic-based cluster head election, (ii) efficient sleep duty cycle for sensor nodes, (iii) hierarchical clustering, and (iv) estimated energy harvesting. Classical clustering approaches such as low energy adaptive clustering hierarchy (LEACH) and selected contemporary clustering methods are considered for comparing the performance of proposed approaches. The proposed modern clustering approaches exhibit better lifetime compared to the selected benchmarked protocols

Collaborative Communication And Storage In Energy-Synchronized Sensor Networks

In a battery-less sensor network, all the operation of sensor nodes are strictly constrained by and synchronized with the fluctuations of harvested energy, causing nodes to be disruptive from network and hence unstable network connectivity. Such wireless sensor network is named as energy-synchronized sensor networks. The unpredictable network disruptions and challenging communication environments make the traditional communication protocols inefficient and require a new paradigm-shift in design. In this thesis, I propose a set of algorithms on collaborative data communication and storage for energy-synchronized sensor networks. The solutions are based on erasure codes and probabilistic network codings. The proposed set of algorithms significantly improve the data communication throughput and persistency, and they are inherently amenable to probabilistic nature of transmission in wireless networks. The technical contributions explore collaborative communication with both no coding and network coding methods. First, I propose a collaborative data delivery protocol to exploit the optimal performance of multiple energy-synchronized paths without network coding, i.e. a new max-flow min-variance algorithm. In consort with this data delivery protocol, a localized TDMA MAC protocol is designed to synchronize nodes\u27 duty-cycles and mitigate media access contentions. However, the energy supply can change dynamically over time, making determined duty cycles synchronization difficult in practice. A probabilistic approach is investigated. Therefore, I present Opportunistic Network Erasure Coding protocol (ONEC), to collaboratively collect data. ONEC derives the probability distribution of coding degree in each node and enable opportunistic in-network recoding, and guarantee the recovery of original sensor data can be achieved with high probability upon receiving any sufficient amount of encoded packets. Next, OnCode, an opportunistic in-network data coding and delivery protocol is proposed to further improve data communication under the constraints of energy synchronization. It is resilient to packet loss and network disruptions, and does not require explicit end-to-end feedback message. Moreover, I present a network Erasure Coding with randomized Power Control (ECPC) mechanism for collaborative data storage in disruptive sensor networks. ECPC only requires each node to perform a single broadcast at each of its several randomly selected power levels. Thus it incurs very low communication overhead. Finally, I propose an integrated algorithm and middleware (Ravine Stream) to improve data delivery throughput as well as data persistency in energy-synchronized sensor network