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2010
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Particle filter adaptation for distributed sensors via set membership

10 years 1 months ago
Particle filter adaptation for distributed sensors via set membership
A distributed set-membership-constrained particle filter (SMCPF) is developed for decentralized tracking applications using wireless sensor networks. Unlike existing PF alternatives, SMC-PF offers reduced overhead for inter-sensor communications because it requires only particle weights to be exchanged among sensors, instead of raw measurements or parameters of a Gaussian mixture model. SMC-PF relies on a novel distributed adaptation scheme based on successive set intersections that can afford reduced number of particles without sacrificing performance. Conditions are provided to quantify the variance reduction of the SMC-PF-based state estimator. Simulations corroborate the ability of the SMCPF to considerably outperform the bootstrap PF for a fixed number of particles.
Shahrokh Farahmand, Stergios I. Roumeliotis, Georg
Added 06 Dec 2010
Updated 06 Dec 2010
Type Conference
Year 2010
Where ICASSP
Authors Shahrokh Farahmand, Stergios I. Roumeliotis, Georgios B. Giannakis
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