Distributed Estimator Design for a Formation with Markovian Communication Topology

Abstract

A solution to the synthesis problem of distributed decentralized estimator for a formation of agents using local measurements and inter-agent communication is proposed. Agents can communicate between each other through digital unidirectional links modeled with two-state Markov chains which results in a stochastic communication topology. The design procedure is based on convex optimization problem formulated with linear matrix inequalities (LMIs).