A k-hop graph-based observer for large-scale networked systems

In this paper, we address the state estimation problem for multi-agent systems interacting in large scale networks. This research is motivated by the observation that in large-scale networks for many practical applications and domains, each agent only requires information concerning agents spatially close to its location, let's say topologically k-hop away. We propose a scalable framework where each agent is able to estimate in finite-time the state of its k-hop neighborhood by interacting only with the agents belonging to its 1-hop neighborhood.