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

Distributed Linear Parameter Estimation: Asymptotically Efficient Adaptive Strategies

The paper considers the problem of distributed adaptive linear parameter estimation in multi-agent inference networks. Local sensing model information is only partially available at the agents and inter-agent communication is assumed to be unpredictable. The paper develops a generic mixed time-scale stochastic procedure consisting of simultaneous distributed learning and estimation, in which the agents adaptively assess their relative observation quality over time and fuse the innovations accordingly. Under rather weak assumptions on the statistical model and the inter-agent communication, it is shown that, by properly tuning the consensus potential with respect to the innovation potential, the asymptotic information rate loss incurred in the learning process may be made negligible. As such, it is shown that the agent estimates are asymptotically efficient, in that their asymptotic covariance coincides with that of a centralized estimator (the inverse of the centralized Fisher information rate for Gaussian systems) with perfect global model information and having access to all observations at all times. The proof techniques are mainly based on convergence arguments for non-Markovian mixed time scale stochastic approximation procedures. Several approximation results developed in the process are of independent interest.Comment: Submitted to SIAM Journal on Control and Optimization journal. Initial Submission: Sept. 2011. Revised: Aug. 201

Multi-innovation stochastic gradient algorithms for dual-rate sampled systems with preload nonlinearity

AbstractSince the stochastic gradient algorithm has a slower convergence rate, this letter presents a multi-innovation stochastic gradient algorithm for a class of dual-rate sampled systems with preload nonlinearity. The basic idea is to transform the dual-rate system model into an identification model which can use dual-rate data by using the polynomial transformation technique. A simulation example is provided to verify the effectiveness of the proposed method

Generalized Off-Policy Actor-Critic

We propose a new objective, the counterfactual objective, unifying existing objectives for off-policy policy gradient algorithms in the continuing reinforcement learning (RL) setting. Compared to the commonly used excursion objective, which can be misleading about the performance of the target policy when deployed, our new objective better predicts such performance. We prove the Generalized Off-Policy Policy Gradient Theorem to compute the policy gradient of the counterfactual objective and use an emphatic approach to get an unbiased sample from this policy gradient, yielding the Generalized Off-Policy Actor-Critic (Geoff-PAC) algorithm. We demonstrate the merits of Geoff-PAC over existing algorithms in Mujoco robot simulation tasks, the first empirical success of emphatic algorithms in prevailing deep RL benchmarks.Comment: NeurIPS 201