Table 2 Comparison of computational complexity and communication overhead for centralized, decentralized, federated decentralized, and federated distributed filter
Computations | Communication | |||
|---|---|---|---|---|
Robot | Fusion center | Combined | ||
Centralized filter | – | O(qNL3) | O(qNL3) | O(qN) |
Completely decentralized filter | O(qL3 + (N – 1)rL3) | – | O(NqL3 + N(N – 1)rL3) | O(N(N – 1)r(L2 + L)) |
Federated decentralized filter | O(qL3) | O(rL3) | O(NqL3 + rL3) | O(2Nr(L2 + L)) |
Federated distributed filter | O(qM3) | O(rL3) | O(NqM3 + rL3) | O(Nr(C2 + C + S2 + S)) |