Novel index for the best node selection problem and enhanced technique for the node's state estimation

The best node selection problem, that distinguishes a node with the best state among multiply connected nodes, is one of the fundamental problem in robotics. However, a systematic solution has not been proposed by its ambiguity characteristics. To make the problem tractable, we reduce the scope of the original problem. Then, we suggest a novel index that systematically judges a required time step needed for a node to be the best. Furthermore, we suggest a new estimation technique that outperforms than previous approaches by 4.94 times in its settling time.