Consensus-Based Distributed Estimation in the Presence of Heterogeneous, Time-Invariant Delays

Classical distributed estimation scenarios typically assume timely and reliable exchanges of information over the sensor network. This letter, in contrast, considers single time-scale via a network subject to transmission time-delays. The proposed discrete-time networked estimator consists two steps: (i) consensus on (delayed) a-priori estimates, (ii) measurement update. sensors only share their estimates with out-neighbors (possibly) time-delayed links. delays are assumed be fixed time, heterogeneous, known. We observability instead local observability, which significantly reduces communication/sensing loads sensors. Using notions augmented matrices Kronecker product, convergence strongly-connected networks is proved for specific upper-bound time-delay.