Nonlinear Consensus+Innovations under Correlated Heavy-Tailed Noises: Mean Square Convergence Rate and Asymptotics

SIAM Journal on Control and Optimization, Volume 62, Issue 1, Page 376-399, February 2024.
Abstract. We consider distributed recursive estimation of consensus+innovations type in the presence of heavy-tailed sensing and communication noises. We allow that the sensing and communication noises are mutually correlated while independent and identically distributed in time, and that they may both have infinite moments of order higher than one (hence having infinite variances). Such heavy-tailed, infinite-variance noises are highly relevant in practice and are shown to occur, e.g., in dense internet of things deployments. We develop a consensus+innovations distributed estimator that employs a general nonlinearity in both consensus and innovations steps to combat the noise. We establish the estimator’s almost sure convergence, asymptotic normality, and mean squared error (MSE) convergence. Moreover, we establish and explicitly quantify for the estimator a sublinear MSE convergence rate. We then quantify through analytical examples the effects of the nonlinearity choices and the noises correlation on the system performance. Finally, numerical examples corroborate our findings and verify that the proposed method works in the simultaneous heavy-tail communication-sensing noise setting, while existing methods fail under the same noise conditions.