Distributed set-based observers using diffusion strategies

Amr Alanwar, Jagat Jyoti Rath, Hazem Said, Karl Henrik Johansson, Matthias Althoff

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


We propose two distributed set-based observers using strip-based and set-propagation approaches for linear discrete-time dynamical systems with bounded modeling and measurement uncertainties. Both algorithms utilize a set-based diffusion step, which decreases the estimation errors and the size of estimated sets, and can be seen as a lightweight approach to achieve partial consensus between the distributed estimated sets. Every node shares its measurement with its neighbor in the measurement update step. In the diffusion step, the neighbors intersect their estimated sets using our novel lightweight zonotope intersection technique. A localization example demonstrates the applicability of our algorithms.

Original languageEnglish
Pages (from-to)6976-6993
Number of pages18
JournalJournal of the Franklin Institute
Issue number10
StatePublished - Jul 2023


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