126928 20260212204406.0 doi 10.1109/LCSYS.2023.3280259 sideral 134373 ART-2023-134373 eng Aldana-López, Rodrigo Universidad de Zaragoza (orcid)0000-0001-6939-6523 Distributed outer approximation of the intersection of ellipsoids 2023 Access copy available to the general public Unrestricted The 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. info:eu-repo/grantAgreement/EUR/AEI/TED2021-130224B-I00 info:eu-repo/grantAgreement/ES/DGA/T45-20R info:eu-repo/grantAgreement/ES/MCIU/FPU19-05700 info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00 info:eu-repo/grantAgreement/ES/MICINN/PID2021-125514NB-I00 info:eu-repo/grantAgreement/ES/NextGenerationEU/PRTR info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 1.597 2023 Control and Systems Engineering 2023 Q1 Control and Optimization 2023 Q1 4.4 2023 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Sebastián, Eduardo Universidad de Zaragoza (orcid)0000-0001-9671-4056 Aragüés, Rosario Universidad de Zaragoza (orcid)0000-0001-9458-6257 Montijano, Eduardo Universidad de Zaragoza (orcid)0000-0002-5176-3767 Sagüés, Carlos Universidad de Zaragoza (orcid)0000-0002-3032-954X 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 7 (2023), 1748-1753 IEEE Control Systems Letters 2475-1456 1119272 http://zaguan.unizar.es/record/126928/files/texto_completo.pdf Postprint 3541712 http://zaguan.unizar.es/record/126928/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:126928 articulos driver 2026-02-12-20:41:31 ARTICLE