*Localmeasure* ∀ *i*

$$Sample\mathbf{z}\_{\mathbf{k}}^{i}$$

$$\mathbf{c}\_{\mathbf{k}}^{i} = \mathbf{z}\_{\mathbf{k}}^{i} - \hbar^{i} \left(\hat{\mathbf{x}}\_{k|\mathbf{k}-1}^{j}\right) \tag{58}$$

$$I\_k^{\mathbb{I}|i} = \frac{\partial h^i(\mathfrak{X}\_{k|k-1}^i)}{\partial \mathfrak{x}\_k} \left(\mathbb{R}\_k^i\right)^T \frac{\partial h^i(\mathfrak{X}\_{k|k-1}^i)}{\partial \mathfrak{x}\_k} \tag{59}$$

$$\mathbf{r}\_{k}^{\mathrm{i}|\boldsymbol{i}} = \frac{\partial \boldsymbol{h}^{i} \left(\boldsymbol{\mathfrak{x}}\_{k|\boldsymbol{k}-1}^{i}\right)^{T}}{\partial \mathbf{x}\_{k}} \left(\mathbf{R}\_{k}^{i}\right)^{-1} \left[\mathbf{c}\_{k}^{i} + \frac{\partial \boldsymbol{h}^{i} \left(\boldsymbol{\mathfrak{x}}\_{k|\boldsymbol{k}-1}^{i}\right)}{\partial \mathbf{x}\_{k}} \boldsymbol{\mathfrak{x}}\_{k|\boldsymbol{k}-1}^{i}\right] \tag{60}$$

*Consensus* (*onmeasurement*) ∀ *i*

#### *Initialization I i k* (0) = *I i k i j k* (0) = *i j k* (61)

(62)

$$for\ \ell = 0, 1, \dots.. L$$

*j*∈A*<sup>i</sup>*

*I*

$$\mathcal{V} \not\mathcal{V}\_{\not} \in \mathcal{H}^{i} \operatorname{ receive} \mathbf{I}\_{\not k}^{\mathbb{I}[\not\ell \nmid \ell]} \not\mathbf{i}\_{\not k}^{\mathbb{I}[\not\ell \nmid \ell]}$$
 
$$\mathbf{I}\_{\not k}^{\mathbb{I}[\not\ell \nmid \ell]} = \sum \mu\_{ij} \quad \mathcal{F}\_{\not I}^{j \to i} \mathbf{\ell}\_{k}^{\mathbb{I}[\not\ell \nmid \ell]}$$

$$\mathbf{i}\_{k}^{\text{lj}}\,\,\mathbf{i}^{\text{lj}}\,\,\,\,\mathbf{(\ell+1)}\,\,=\sum\_{j\in\mathcal{R}\_{\text{l}}}\mu\_{\text{ij}}\quad\,\,\mathcal{F}\_{\text{i}}^{\text{j}\rightarrow\text{i}}\left(\mathbf{i}\_{k}^{\text{lj}\,\,\,\ell}\,\,\right)\,\,\,\tag{63}$$
