Distributed Estimation From Relative and Absolute Measurements

Wilbert Samuel Rossi*, Paolo Frasca, Fabio Fagnani

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

10 Citations (Scopus)


This note defines the problem of least squares distributed estimation from relative and absolute measurements, by encoding the set of measurements in a weighted undirected graph. The role of its topology is studied by an electrical interpretation, which easily allows distinguishing between topologies that lead to "small" or "large" estimation errors. The least squares problem is solved by a distributed gradient algorithm: The computed solution is approximately optimal after a number of steps that does not depend on the size of the problem or on the graph-theoretic properties of its encoding. This fact indicates that only a limited cooperation between the sensors is necessary.

Original languageEnglish
Pages (from-to)6385-6391
Number of pages7
JournalIEEE Transactions on Automatic Control
Issue number12
Publication statusPublished - Dec-2017
Externally publishedYes


  • Cooperative control
  • Distributed estimation
  • Optimization algorithms
  • Sensor networks

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