# Distributed Set-Based Observers Using Diffusion Strategies

arXiv: https://arxiv.org/abs/2003.10347 · HTML: https://mlsanity.com/paper/2003.10347/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 Mar 2020.

## Built on by (most cited first, 1 of 1)

- [Perception with Guarantees: Certified Pose Estimation via Reachability Analysis](https://mlsanity.com/paper/2602.10032/) (2026)

## Abstract (arXiv)

We propose two distributed set-based observers using strip-based and set-propagation approaches for linear discrete-time dynamical systems with bounded modeling and measurement uncertainties. Both algorithms utilize a set-based diffusion step, which decreases the estimation errors and the size of estimated sets, and can be seen as a lightweight approach to achieve partial consensus between the distributed estimated sets. Every node shares its measurement with its neighbor in the measurement update step. In the diffusion step, the neighbors intersect their estimated sets using our novel lightweight zonotope intersection technique. A localization example demonstrates the applicability of our algorithms.