Conditions for detectability in distributed consensus-based observer networks
Provides foundational theoretical guarantees for distributed state estimation in networked systems, relevant to control and robotics communities.
The paper establishes necessary and sufficient conditions for detectability in distributed consensus-based observer networks, linking plant detectability, node filter observability, and graph connectivity to ensure stabilizable error dynamics.
The paper discusses fundamental detectability properties associated with the problem of distributed state estimation using networked observers. The main result of the paper establishes connections between detectability of the plant through measurements, observability of the node filters through interconnections, and algebraic properties of the underlying communication graph, to ensure the interconnected filtering error dynamics are stabilizable via output injection.