Suboptimal Filtering Over Sensor Networks With Random Communication

The problem of filter design is considered for continuous-time linear stochastic systems using distributed sensors. Each sensor unit, represented by a node in an undirected and connected graph, collects some information about the state communicates its own estimate with neighbors. It stipulated that this communication between nodes edge time-sampled randomly each edge, sampling process independent Poisson counter. Our proposed filtering algorithm hybrid system: comprises differential equation, at random time instants when takes place, updates based on received In setting, we compute expectation error covariance matrix unit which governed equation. To study asymptotic behavior these matrices, show if gain matrices are appropriately chosen mean rate large enough, then covariances practically converge to constant matrix.