doi:10.1016/j.inffus.2023.101857engAldana-López, RodrigoAragüés, RosarioSagüés, CarlosPerception-latency aware distributed target trackingART-2023-134165This 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.2023http://zaguan.unizar.es/record/12677110.1016/j.inffus.2023.101857http://zaguan.unizar.es/record/126771oai:zaguan.unizar.es:126771info:eu-repo/grantAgreement/EUR/AEI/TED2021-130224B-I00info:eu-repo/grantAgreement/ES/DGA/T45-23Rinfo:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00Information Fusion 99 (2023), 101857 [9 pp.]by-nc-ndhttps://creativecommons.org/licenses/by-nc-nd/4.0/deed.esinfo:eu-repo/semantics/openAccess