Journal
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume 22, Issue 2, Pages 778-785Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2013.2256787
Keywords
Consensus; decentralized adaptation; distributed target tracking; sensor networks; stability
Funding
- Serbian Ministry of Science and Technological Development [TR32038]
- EU Marie Curie CIG
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In this brief, consensus-based algorithms for distributed target tracking are discussed, and a new algorithm with decentralized adaptation is proposed for sensor networks with limited sensing range. The given comparative analysis shows that tuning of the gains in the consensus scheme is of crucial importance for getting simple, yet efficient tracking algorithms, requiring the exchange of only local state estimates between the nodes. The proposed algorithm, which gives higher importance to the nodes currently receiving measurements, is based on the exchange of additional binary information and represents a robust and efficient tool for practice. Stability of the algorithm is theoretically discussed on a given scenario. Selected examples illustrate its performance in terms of the estimation error and the disagreement between the nodes.
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