Diffusion Strategies for Distributed Kalman Filter with Dynamic Topologies in Virtualized Sensor Networks

<div>Values of the weights <svg height="10.3116pt" id="M67" style="vertical-align:-4.35069pt" version="1.1" viewbox="-0.0498162 -5.96091 14.0758 10.3116" width="14.0758pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M383 397C383 424 344 448 299 448C244 448 172 409 132 375C66 319 23 227 23 146C23 42 74 -12 146 -12C208 -12 298 30 359 103L343 124C315 95 248 48 192 48C145 48 111 85 111 163C111 228 129 294 151 330C171 363 201 401 241 401C275 401 302 384 325 356C332 347 339 344 348 348C373 360 383 381 383 397Z" id="g113-100"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="406" vert-adv-y="406"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,4.173,3.132)"><path d="M238 675C244 702 241 710 231 710C220 710 155 682 74 673L70 643H101C147 643 151 635 142 594L39 111C18 11 36 -12 55 -12C89 -12 170 38 223 103L207 129C176 98 130 68 118 68C113 68 108 72 114 102L238 675Z" id="g50-109"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="271" vert-adv-y="271"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.64,3.132)"><path d="M98 134C72 134 46 117 46 90C46 73 55 65 60 64C95 55 124 32 124 -4C124 -42 95 -68 44 -89L57 -123C122 -104 194 -60 194 22C194 94 136 134 98 134Z" id="g50-45"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="237" vert-adv-y="237"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,8.797,3.132)"><path d="M485 418C485 434 469 451 441 451C389 451 312 387 255 335C221 304 194 278 159 242H157L259 678C264 698 264 710 255 710C242 710 183 681 96 673L90 643L128 642C165 641 171 640 162 602L24 -5L31 -12C51 -4 81 4 110 9L145 181C154 195 180 220 205 242C233 170 263 106 291 53C318 1 335 -12 360 -12C383 -12 425 0 483 82L463 105C437 79 411 57 400 57C388 57 378 68 355 110C329 156 288 244 268 298C299 333 355 376 405 376C426 376 440 373 448 368C453 365 465 368 468 373C477 386 485 405 485 418Z" id="g50-108"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="509" vert-adv-y="509"></glyph.data></g></svg> with Metropolis rule.</div>

Mobile Information Systems

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Figure 2: Diffusion Strategies for Distributed Kalman Filter with Dynamic Topologies in Virtualized Sensor Networks 