Local average consensus in distributed measurement of spatial-temporal varying parameters: ID case

We study a new variant of consensus problems, termed 'local average consensus', in networks of agents. We consider the task of using sensor networks to perform distributed measurement of a parameter which has both spatial (in this paper ID) and temporal variations. Our idea is to maintain potentially useful local information regarding spatial variation, as contrasted with reaching a single, global consensus, as well as to mitigate the effect of measurement errors. We employ two schemes for computation of local average consensus: exponential weighting and uniform finite window. In both schemes, we design local average consensus algorithms to address first the case where the measured parameter has spatial variation but is constant in time, and then the case where the measured parameter has both spatial and temporal variations. Our designed algorithms are distributed, in that information is exchanged only among neighbors. Moreover, we analyze spatial frequency response and noise propagation associated to the algorithms. The tradeoffs of using local consensus, as compared to standard global consensus, include higher memory requirement and degraded noise performance.