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MAC Delay in Belief Consensus for Distributed Tracking

Christopher Lindberg (Institutionen för signaler och system, Kommunikationssystem) ; Leela Srikar Muppirisetty (Institutionen för signaler och system, Kommunikationssystem) ; Karl-Magnus Dahlén ; Vladimir Savic ; Henk Wymeersch (Institutionen för signaler och system, Kommunikationssystem)
2013 10th Workshop on Positioning, Navigation and Communication, WPNC 2013; Dresden; Germany; 20 March 2013 through 21 March 2013 p. Art. no. 6533255. (2013)
[Konferensbidrag, refereegranskat]

In target tracking applications where many sensors must have a common view of the target’s state, distributed particle filtering with belief consensus is an attractive solution. It allows for a fully distributed, scalable solution, guarantees consensus in connected networks, and converges fast for network with high connectivity. However, for medium access control, high connectivity is detrimental, possibly leading to a different convergence/performance trade-off. We study the delay/performance trade-off of distributed particle filtering with belief consensus in the presence of time division medium access control. We found that for small networks, (i) the impact of max-consensus should be accounted for; (ii) a simple round-robin schedule combined with a large communication range gives the best delay/performance trade-off.



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Denna post skapades 2013-04-18. Senast ändrad 2016-07-12.
CPL Pubid: 175802

 

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