47,581 research outputs found
On the genericity properties in networked estimation: Topology design and sensor placement
In this paper, we consider networked estimation of linear, discrete-time
dynamical systems monitored by a network of agents. In order to minimize the
power requirement at the (possibly, battery-operated) agents, we require that
the agents can exchange information with their neighbors only \emph{once per
dynamical system time-step}; in contrast to consensus-based estimation where
the agents exchange information until they reach a consensus. It can be
verified that with this restriction on information exchange, measurement fusion
alone results in an unbounded estimation error at every such agent that does
not have an observable set of measurements in its neighborhood. To over come
this challenge, state-estimate fusion has been proposed to recover the system
observability. However, we show that adding state-estimate fusion may not
recover observability when the system matrix is structured-rank (-rank)
deficient.
In this context, we characterize the state-estimate fusion and measurement
fusion under both full -rank and -rank deficient system matrices.Comment: submitted for IEEE journal publicatio
JIDT: An information-theoretic toolkit for studying the dynamics of complex systems
Complex systems are increasingly being viewed as distributed information
processing systems, particularly in the domains of computational neuroscience,
bioinformatics and Artificial Life. This trend has resulted in a strong uptake
in the use of (Shannon) information-theoretic measures to analyse the dynamics
of complex systems in these fields. We introduce the Java Information Dynamics
Toolkit (JIDT): a Google code project which provides a standalone, (GNU GPL v3
licensed) open-source code implementation for empirical estimation of
information-theoretic measures from time-series data. While the toolkit
provides classic information-theoretic measures (e.g. entropy, mutual
information, conditional mutual information), it ultimately focusses on
implementing higher-level measures for information dynamics. That is, JIDT
focusses on quantifying information storage, transfer and modification, and the
dynamics of these operations in space and time. For this purpose, it includes
implementations of the transfer entropy and active information storage, their
multivariate extensions and local or pointwise variants. JIDT provides
implementations for both discrete and continuous-valued data for each measure,
including various types of estimator for continuous data (e.g. Gaussian,
box-kernel and Kraskov-Stoegbauer-Grassberger) which can be swapped at run-time
due to Java's object-oriented polymorphism. Furthermore, while written in Java,
the toolkit can be used directly in MATLAB, GNU Octave, Python and other
environments. We present the principles behind the code design, and provide
several examples to guide users.Comment: 37 pages, 4 figure
A Survey on Multisensor Fusion and Consensus Filtering for Sensor Networks
Multisensor fusion and consensus filtering are two fascinating subjects in the research of sensor networks. In this survey, we will cover both classic results and recent advances developed in these two topics. First, we recall some important results in the development ofmultisensor fusion technology. Particularly, we pay great attention to the fusion with unknown correlations, which ubiquitously exist in most of distributed filtering problems. Next, we give a systematic review on several widely used consensus filtering approaches. Furthermore, some latest progress on multisensor fusion and consensus filtering is also presented. Finally,
conclusions are drawn and several potential future research directions are outlined.the Royal Society of the UK, the National Natural Science Foundation of China under Grants 61329301, 61374039, 61304010, 11301118, and 61573246, the Hujiang Foundation of China under Grants C14002
and D15009, the Alexander von Humboldt Foundation of Germany, and the Innovation Fund Project for Graduate Student of Shanghai under Grant JWCXSL140
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