000126771 001__ 126771 000126771 005__ 20241125101138.0 000126771 0247_ $$2doi$$a10.1016/j.inffus.2023.101857 000126771 0248_ $$2sideral$$a134165 000126771 037__ $$aART-2023-134165 000126771 041__ $$aeng 000126771 100__ $$aAldana-López, Rodrigo$$uUniversidad de Zaragoza 000126771 245__ $$aPerception-latency aware distributed target tracking 000126771 260__ $$c2023 000126771 5060_ $$aAccess copy available to the general public$$fUnrestricted 000126771 5203_ $$aThis work is devoted to the problem of distributed target tracking when a team of robots detect the target through a variable perception-latency mechanism. A reference for the robots to track is constructed in terms of a desired formation around the estimation of the target position. However, it is noted that due to the perception-latency, classical estimation techniques have smoothness issues which prevent asymptotic stability for the formation control. We propose a near-optimal smooth-output estimator which circumvents this issue. Moreover, local estimations are fused using novel dynamic consensus techniques. The advantages of the proposal as well as a comparison with a non-smooth optimal alternative are discussed through simulation examples. 000126771 536__ $$9info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00$$9info:eu-repo/grantAgreement/ES/DGA/T45-23R$$9info:eu-repo/grantAgreement/EUR/AEI/TED2021-130224B-I00 000126771 540__ $$9info:eu-repo/semantics/openAccess$$aby-nc-nd$$uhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/ 000126771 590__ $$a14.8$$b2023 000126771 592__ $$a5.647$$b2023 000126771 591__ $$aCOMPUTER SCIENCE, THEORY & METHODS$$b2 / 144 = 0.014$$c2023$$dQ1$$eT1 000126771 593__ $$aHardware and Architecture$$c2023$$dQ1 000126771 591__ $$aCOMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE$$b4 / 197 = 0.02$$c2023$$dQ1$$eT1 000126771 593__ $$aSoftware$$c2023$$dQ1 000126771 593__ $$aSignal Processing$$c2023$$dQ1 000126771 593__ $$aInformation Systems$$c2023$$dQ1 000126771 594__ $$a33.2$$b2023 000126771 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000126771 700__ $$0(orcid)0000-0001-9458-6257$$aAragüés, Rosario$$uUniversidad de Zaragoza 000126771 700__ $$0(orcid)0000-0002-3032-954X$$aSagüés, Carlos$$uUniversidad de Zaragoza 000126771 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000126771 773__ $$g99 (2023), 101857 [9 pp.]$$pInformation Fusion$$tInformation Fusion$$x1566-2535 000126771 8564_ $$s1753546$$uhttps://zaguan.unizar.es/record/126771/files/texto_completo.pdf$$yVersión publicada 000126771 8564_ $$s2791380$$uhttps://zaguan.unizar.es/record/126771/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000126771 909CO $$ooai:zaguan.unizar.es:126771$$particulos$$pdriver 000126771 951__ $$a2024-11-22-12:01:37 000126771 980__ $$aARTICLE