Event-triggered Distributed Pose Estimation for Networked Vehicles
Rui Jiang, Xinghua Liu, Han Wang, Shuzhi Sam Ge · 2018
This paper is concerned with the pose estimation problem for networked vehicles by designing distributed filtering with an event-triggered communication mechanism. By utilizing the event-based distributed filter structure and event-induced behaviors, we obtain the augmented system equations for networked vehicles. Based on the augmented system, an upper bound of the distributed filtering error variance is obtained by a recursive algorithm and can be minimized at each iteration with proper filter parameters computed via a simplified matrix approach. Simulative studies are given to show the effectiveness of the proposed filtering design method.