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approach to this is creating a centralised estimate where all infor- mation goes to a single point and the solution is found before transmitting the results back
http://kat354nas3.vsb.cz/iros2018/media/files/1597.pdf
only al- lows modeling one output at a time, we ran the algorithm twice, for ŷ1,k+1 and ŷ2,k+1. All 30 models were evaluated on the validation set and the model