129632 20241125101124.0 doi 10.1109/TAC.2023.3331667 sideral 135894 ART-2023-135894 eng Sebastián, Eduardo Universidad de Zaragoza (orcid)0000-0001-9671-4056 ECO-DKF: Event-Triggered and Certifiable Optimal Distributed Kalman Filter Under Unknown Correlations 2023 Access copy available to the general public Unrestricted This paper presents ECO-DKF, the first E vent-Triggered and C ertifiable O ptimal D istributed K alman F ilter. Our algorithm addresses two major issues inherent to Distributed Kalman Filters: (i) fully distributed and scalable optimal estimation and (ii) reduction of the communication bandwidth usage. The first requires to solve an NP-hard optimisation problem, forcing relaxations that lose optimality guarantees over the original problem. Using only information from one-hop neighbours, we propose a tight Semi-Definite Programming relaxation that allows to certify locally and online if the relaxed solution is the optimum of the original NP-hard problem. In that case, ECO-DKF is optimal in the square error sense under scalability and event-triggered one-hop communications restrictions. Additionally, ECO-DKF is a globally asymptotically stable estimator. To address the second issue, we propose an event-triggered scheme from the relaxed optimisation output. The consequence is a broadcasting-based algorithm that saves communication bandwidth, avoids individual communication links and multiple information exchanges within instants, and preserves the optimality and stability properties of the filter. info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 6.2 2023 ENGINEERING, ELECTRICAL & ELECTRONIC 44 / 353 = 0.125 2023 Q1 T1 AUTOMATION & CONTROL SYSTEMS 12 / 84 = 0.143 2023 Q1 T1 4.501 2023 Electrical and Electronic Engineering 2023 Q1 Control and Systems Engineering 2023 Q1 Computer Science Applications 2023 Q1 11.3 2023 info:eu-repo/semantics/conferenceObject info:eu-repo/semantics/acceptedVersion 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. (2023), 1-8 IEEE trans. automat. contr. IEEE TRANSACTIONS ON AUTOMATIC CONTROL 0018-9286 1070007 http://zaguan.unizar.es/record/129632/files/texto_completo.pdf Postprint 3818025 http://zaguan.unizar.es/record/129632/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:129632 articulos driver 2024-11-22-11:57:13 ARTICLE