Distributed Data-aggregation Consensus for Sensor Networks: Relaxation of Consensus Concept and Convergence Property

Abstract

This project considers the problem of localization and tracking an underwater target from bearings-only measurements obtained by static underwater sensors. Nodes communicate their local observations over volatile, unreliable underwater channels with the aim being to improve the overall accuracy of each sensors estimate, while also aligning the estimates so that all nodes agree on the target location. This report summarizes our initial investigation of having each node locally run a particle filter for state estimation.

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 2014
Accession Number
AD1000833

Entities

People

  • Michael Rabbat

Organizations

  • McGill University

Tags

Communities of Interest

  • Sensors

DTIC Thesaurus Topics

  • Acoustic Measurement
  • Algorithms
  • Communication Channels
  • Consensus Algorithms
  • Contracts
  • Detectors
  • Dynamics
  • Estimators
  • Filters
  • Filtration
  • Measurement
  • National Security
  • Network Topology
  • Networks
  • Noise
  • Particles
  • Sequential Monte Carlo Methods

Fields of Study

  • Engineering

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Computer Networking
  • Sensor Fusion and Tracking Systems.