Target Localization Using Mobile Sensors and a Decentralized and Distributed Variational Estimator

Amit K. Sanyal, Hossein Eslamiat

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work proposes a distributed and decentralized observer for position estimation (localization) of a moving target being tracked by multiple mobile sensors. The possibly time-varying set of sensors that have the target in their field of view, is used to create an energy-like quantity that depends on errors in the estimated relative positions and relative velocities of the target as measured by the mobile sensors. The relative velocities need not be measured directly, and can be obtained by filtering the observed relative positions. Each sensor then implements a local version of this distributed observer, and shares relative position information with the other sensors that are tracking the target. The observer is in the form of a variational estimator that is obtained by taking an action functional constructed from the energy-like quantity and dissipating this energy. As a result, the observer is shown to be asymptotically stable. Numerical simulations confirm this stability property and indicate robustness of the distributed observer to bounded measurement errors.

Original languageEnglish (US)
Title of host publicationFUSION 2019 - 22nd International Conference on Information Fusion
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9780996452786
StatePublished - Jul 2019
Event22nd International Conference on Information Fusion, FUSION 2019 - Ottawa, Canada
Duration: Jul 2 2019Jul 5 2019

Publication series

NameFUSION 2019 - 22nd International Conference on Information Fusion

Conference

Conference22nd International Conference on Information Fusion, FUSION 2019
CountryCanada
CityOttawa
Period7/2/197/5/19

ASJC Scopus subject areas

  • Information Systems
  • Instrumentation

Fingerprint Dive into the research topics of 'Target Localization Using Mobile Sensors and a Decentralized and Distributed Variational Estimator'. Together they form a unique fingerprint.

  • Cite this

    Sanyal, A. K., & Eslamiat, H. (2019). Target Localization Using Mobile Sensors and a Decentralized and Distributed Variational Estimator. In FUSION 2019 - 22nd International Conference on Information Fusion [9011171] (FUSION 2019 - 22nd International Conference on Information Fusion). Institute of Electrical and Electronics Engineers Inc..