| Full text | |
| Author(s): |
de Figueredo, Caio G.
;
Bordin Jr, Claudio J.
;
Bruno, Marcelo G. S.
;
IEEE
Total Authors: 4
|
| Document type: | Journal article |
| Source: | 2021 IEEE INTERNATIONAL CONFERENCE ON ACOUSTICS, SPEECH AND SIGNAL PROCESSING (ICASSP 2021); v. N/A, p. 5-pg., 2021-01-01. |
| Abstract | |
This paper introduces a new distributed Adapt-then-Combine (ATC) diffusion algorithm for cooperative tracking of an unknown state vector that evolves on the unit hypersphere. The adapt step is implemented for a general nonlinear observation model and a dynamic state model defined on the hypersphere using a marginal particle filter (PF). The combine step in turn uses parallel transport to build Gaussian parametric approximations on a common tangent space to the spherical manifold. Performance results are compared to those of competing linear diffusion Extended Kalman Filters and non-cooperative PFs. (AU) | |
| FAPESP's process: | 18/26191-0 - Bayesian methods for distributed estimation in cooperative networks |
| Grantee: | Marcelo Gomes da Silva Bruno |
| Support Opportunities: | Regular Research Grants |