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Minimal Number of Sensor Nodes for Distributed Kalman Filte..:

Li, Wangyan ; Yang, Fuwen ; Thiel, David V..
IEEE Transactions on Systems, Man, and Cybernetics: Systems.  52 (2022)  3 - p. 1778-1786 , 2022
Link: https://doi.org/10.1109/tsmc.2020.3034732