126771 20260212204406.0 doi 10.1016/j.inffus.2023.101857 sideral 134165 ART-2023-134165 eng Aldana-López, Rodrigo Universidad de Zaragoza (orcid)0000-0001-6939-6523 Perception-latency aware distributed target tracking 2023 Access copy available to the general public Unrestricted This 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. info:eu-repo/grantAgreement/EUR/AEI/TED2021-130224B-I00 info:eu-repo/grantAgreement/ES/DGA/T45-23R info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00 info:eu-repo/semantics/openAccess by-nc-nd https://creativecommons.org/licenses/by-nc-nd/4.0/deed.es 14.8 2023 COMPUTER SCIENCE, THEORY & METHODS 2 / 144 = 0.014 2023 Q1 T1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE 4 / 197 = 0.02 2023 Q1 T1 5.647 2023 Hardware and Architecture 2023 Q1 Software 2023 Q1 Signal Processing 2023 Q1 Information Systems 2023 Q1 33.2 2023 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Aragüés, Rosario Universidad de Zaragoza (orcid)0000-0001-9458-6257 Sagüés, Carlos Universidad de Zaragoza (orcid)0000-0002-3032-954X 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 99 (2023), 101857 [9 pp.] Information Fusion Information Fusion 1566-2535 1753546 http://zaguan.unizar.es/record/126771/files/texto_completo.pdf Versión publicada 2791380 http://zaguan.unizar.es/record/126771/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:126771 articulos driver 2026-02-12-20:41:31 ARTICLE