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Poster
Cooperative Tracking using Marginal Diffusion Particle Filters
- Citation Author(s):
- Submitted by:
- Stiven Dias
- Last updated:
- 12 April 2018 - 7:15pm
- Document Type:
- Poster
- Document Year:
- 2018
- Event:
- Presenters:
- Marcelo Gomes da Silva Bruno
- Paper Code:
- 1573
- Categories:
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This paper formulates the general Adapt-then-Combine (ATC) and Random Exchange (RndEx) diffusion filters for an arbitrary nonlinear state-space model. Subsequently, we propose two novel marginal Particle Filter implementations of the general ATC and RndEx filters using respectively a pure Sequential Monte Carlo (SMC) strategy and a hybrid Gaussian/SMC methodology. The proposed algorithms are assessed via simulation in a numerical example of cooperative target tracking with received-signal-strength (RSS) sensors.