Perception-latency aware distributed target tracking

Aldana-López, Rodrigo (Universidad de Zaragoza) ; Aragüés, Rosario (Universidad de Zaragoza) ; Sagüés, Carlos (Universidad de Zaragoza)

Resumen: 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.

Idioma: Inglés

DOI: 10.1016/j.inffus.2023.101857

Año: 2023

Publicado en: Information Fusion 99 (2023), 101857 [9 pp.]
ISSN: 1566-2535

Factor impacto JCR: 14.8 (2023)

Categ. JCR: COMPUTER SCIENCE, THEORY & METHODS rank: 2 / 144 = 0.014 (2023) - Q1 - T1
Categ. JCR: COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE rank: 4 / 197 = 0.02 (2023) - Q1 - T1

Factor impacto CITESCORE: 33.2 - Information Systems (Q1) - Signal Processing (Q1) - Software (Q1) - Hardware and Architecture (Q1)

Factor impacto SCIMAGO: 5.647 - Hardware and Architecture (Q1) - Software (Q1) - Signal Processing (Q1) - Information Systems (Q1)

Financiación: info:eu-repo/grantAgreement/EUR/AEI/TED2021-130224B-I00
Financiación: info:eu-repo/grantAgreement/ES/DGA/T45-23R
Financiación: info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00

Tipo y forma: Article (Published version)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)