| Texto completo | |
| Autor(es): |
de Figueredo, Caio G.
;
Bordin Jr, Claudio J.
;
Bruno, Marcelo G. S.
;
IEEE
Número total de Autores: 4
|
| Tipo de documento: | Artigo Científico |
| Fonte: | 2021 IEEE INTERNATIONAL CONFERENCE ON ACOUSTICS, SPEECH AND SIGNAL PROCESSING (ICASSP 2021); v. N/A, p. 5-pg., 2021-01-01. |
| Resumo | |
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) | |
| Processo FAPESP: | 18/26191-0 - Métodos Bayesianos para estimação distribuída em redes cooperativas |
| Beneficiário: | Marcelo Gomes da Silva Bruno |
| Modalidade de apoio: | Auxílio à Pesquisa - Regular |