Distributed consensus filter on directed graphs with switching topologies

We consider distributed estimation on a directed graph with switching topologies. Motivated by a recent PI consensus filter, we modify the protocol and remove the requirement of bi-directional exchange of neighboring gains for fixed topologies. We then extend the protocol to switching topologies and propose a new hybrid consensus filter design. Convergence results under both balanced directed and general directed graphs are given for switching graphs. We finally show satisfactory simulation results.