Abstract
This paper considers a distributed state estimation problem of a multisensor linear time-invariant system affected by bounded disturbances and measurement noises. We propose a zonotopic state estimation scheme called collector, which generates a directed rooted tree from the underlying graph by designating a node to collect information. Based on this idea, multi-hop decomposition is implemented, and properties of multi-hop decomposition under this framework are discussed. Furthermore, this paper presents a solution for treating one node as a collector. In the end, a case study is used to illustrate the effectiveness of the proposed estimator.
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