Consensus-based Networked Tracking in Presence of Heterogeneous Time-Delays
Consensus-based Networked Tracking in Presence of Heterogeneous Time-Delays
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DOI：
10.1109/icrom57054.2022.10025279
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发表时间：
2022-11
期刊：
影响因子：
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通讯作者：
Mohammadreza Doostmohammadian;Mohammad Pirani;U. Khan
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文献类型：
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作者：
Mohammadreza Doostmohammadian;Mohammad Pirani;U. Khan
提出了一种基于网络估计和一致性算法的静态传感器网络分布式(单)目标跟踪方案。跟踪部分基于我们以前工作中提出的线性到达时间差(TDOA)测量。特别是，本文在稀疏数据传输网络上开发了容迟分布式过滤解决方案。我们假设不同链路上的一般任意异质延迟。这可能会发生在许多现实的大规模应用中，其中不同节点之间的数据共享由于通信资源限制或大型空间分布式传感器网络而受到延迟的影响。我们在这项工作中提出的解决方案在这样的场景下显示了改进的性能(通过理论和模拟验证)。这种分布式方案的另一个优势是可以添加局部故障检测和隔离(FDI)策略以及可生存图论设计，这为本研究打开了许多后续场所。就我们所知，现有的分布式跟踪文献中没有给出这样的容迟分布式线性算法。
We propose a distributed (single) target tracking scheme based on networked estimation and consensus algorithms over static sensor networks. The tracking part is based on linear time-difference-of-arrival (TDOA) measurement proposed in our previous works. This paper, in particular, develops delay-tolerant distributed filtering solutions over sparse data-transmission networks. We assume general arbitrary heterogeneous delays at different links. This may occur in many realistic large-scale applications where the data-sharing between different nodes is subject to latency due to communication-resource constraints or large spatially distributed sensor networks. The solution we propose in this work shows improved performance (verified by both theory and simulations) in such scenarios. Another privilege of such distributed schemes is the possibility to add localized fault-detection and isolation (FDI) strategies along with survivable graph-theoretic design, which opens many follow-up venues to this research. To our best knowledge no such delay-tolerant distributed linear algorithm is given in the existing distributed tracking literature.