Cooperative Parameter Tracking on the Unit Sphere Using Distributed Adapt-Then-Combine Particle Filters and Parallel Transport

Caio Gomes de Figueredo; Claudio J. Bordin Jr.; Marcelo G. S. Bruno

ICASSP 2021accepted0 citations

Cooperative Parameter Tracking on the Unit Sphere Using Distributed Adapt-Then-Combine Particle Filters and Parallel Transport

Caio Gomes de Figueredo, Claudio J. Bordin Jr., Marcelo G. S. Bruno

Abstract

This paper introduces a new distributed Adapt-then-Combine (ATC) diffusion algorithm for cooperative tracking of an un-known 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.

BibTeX

@inproceedings{icassp2021_cooperativeparam,
  title = {Cooperative Parameter Tracking on the Unit Sphere Using Distributed Adapt-Then-Combine Particle Filters and Parallel Transport},
  author = {Caio Gomes de Figueredo and Claudio J. Bordin Jr. and Marcelo G. S. Bruno},
  booktitle = {ICASSP 2021},
  year = {2021}
}