Research Repository

Distributed minimax filter for tracking and flocking

Dongbing Gu, and Huosheng Hu, (2010) Distributed minimax filter for tracking and flocking. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), 2010-10-18 - 2010-10-22.

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In this paper, we investigate a moving target tracking problem with mobile sensor networks. The moving target is assumed to be an intelligent agent, which is 'smart' enough to escape from the detection. We formulate this target estimation problem as a zero-sum game in this paper and use a so-called minimax filter to estimate the target position. The minimax filter is a robust filter that minimizes the estimation error by considering the worst case noise. Furthermore we develop a distributed version of the minimax filter for multiple sensor nodes. The distributed computation is implemented via a consensus filter. Finally, the mobile sensor nodes need to control their motions to move towards the estimated target position and avoid collisions with neighbors. A flocking algorithm is developed for this purpose. The simulation results show that the target tracking algorithm proposed in this paper provides a satisfactory result. ©2010 IEEE.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health
Faculty of Science and Health > Computer Science and Electronic Engineering, School of
SWORD Depositor: Elements
Depositing User: Elements
Date Deposited: 06 Sep 2013 12:53
Last Modified: 23 Sep 2022 18:44

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