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Published at December 4

Decentralized Mobile Target Tracking Using Consensus-Based Estimation with Nearly-Constant-Velocity Modeling

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I.2.9; C.2.4; G.1.6

Released Date: December 4, 2024

Authors: Amir Ahmad Ghods¹, Mohammadreza Doostmohammadian¹

Aff.: ¹Semnan University, Iran

Arxiv: http://arxiv.org/pdf/2412.03095v1

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Variable	Description
$\mathcal{G}$	A communication network of agents.
$\mathcal{N}$	Set of agents in the network.
$\mathcal{E}$	Set of links representing connections between agents.
$\mathcal{W}$	Weight matrix that represents attributes of connections.
$\mathcal{N}_{i}$	Set of neighboring nodes directly connected to node $i$ .
$\|\mathcal{N}_{i}\|$	Number of neighboring nodes directly connected to node $i$ .
A	Transition matrix.
B	Input matrix.
$\mathbf{x}$	State vector.
$\Delta$	Sampling time.
$k$	Iteration.
$\mathbf{w}$	Process noise.
H	Observation matrix
$\mathbf{v}$	Observation noise.
$\mathbf{y}$	Observed measurement.
${\xi}$	A scalar representing observation confidence.
$g$	A gain for saturating the estimation innovation.
$L$	Communication rate.