000126928 001__ 126928 000126928 005__ 20240731103340.0 000126928 0247_ $$2doi$$a10.1109/LCSYS.2023.3280259 000126928 0248_ $$2sideral$$a134373 000126928 037__ $$aART-2023-134373 000126928 041__ $$aeng 000126928 100__ $$aAldana-López, Rodrigo$$uUniversidad de Zaragoza 000126928 245__ $$aDistributed outer approximation of the intersection of ellipsoids 000126928 260__ $$c2023 000126928 5060_ $$aAccess copy available to the general public$$fUnrestricted 000126928 5203_ $$aThe outer Löwner-John method is widely used in sensor fusion applications to find the smallest ellipsoid that can approximate the intersection of a set of ellipsoids, described by positive definite covariance matrices modeling the quality of each sensor. We propose a distributed algorithm to solve this problem when these matrices are defined over the network’s nodes. This is of particular significance as it is the first decentralized algorithm capable of computing the covariance intersection ellipsoid by combining information from the entire network using only local interactions. The solution is based on a reformulation of the centralized problem, leading to a local protocol based on exact dynamic consensus tools. After reaching consensus, the protocol converges to an outer Löwner-John ellipsoid in finite time, and to the global optimum asymptotically. Formal convergence analysis and numerical experiments are provided to validate the proposal’s advantages. 000126928 536__ $$9info:eu-repo/grantAgreement/EUR/AEI/TED2021-130224B-I00$$9info:eu-repo/grantAgreement/ES/DGA/T45-20R$$9info:eu-repo/grantAgreement/ES/MCIU/FPU19-05700$$9info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00$$9info:eu-repo/grantAgreement/ES/MICINN/PID2021-125514NB-I00$$9info:eu-repo/grantAgreement/ES/NextGenerationEU/PRTR 000126928 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000126928 592__ $$a1.597$$b2023 000126928 593__ $$aControl and Systems Engineering$$c2023$$dQ1 000126928 593__ $$aControl and Optimization$$c2023$$dQ1 000126928 594__ $$a4.4$$b2023 000126928 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000126928 700__ $$0(orcid)0000-0001-9671-4056$$aSebastián, Eduardo$$uUniversidad de Zaragoza 000126928 700__ $$0(orcid)0000-0001-9458-6257$$aAragüés, Rosario$$uUniversidad de Zaragoza 000126928 700__ $$0(orcid)0000-0002-5176-3767$$aMontijano, Eduardo$$uUniversidad de Zaragoza 000126928 700__ $$0(orcid)0000-0002-3032-954X$$aSagüés, Carlos$$uUniversidad de Zaragoza 000126928 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000126928 773__ $$g7 (2023), 1748-1753$$tIEEE Control Systems Letters$$x2475-1456 000126928 8564_ $$s1119272$$uhttps://zaguan.unizar.es/record/126928/files/texto_completo.pdf$$yPostprint 000126928 8564_ $$s3541712$$uhttps://zaguan.unizar.es/record/126928/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000126928 909CO $$ooai:zaguan.unizar.es:126928$$particulos$$pdriver 000126928 951__ $$a2024-07-31-09:49:47 000126928 980__ $$aARTICLE