Distributed algorithms for tracking the trajectories of many objects by the set of mobile sensors

Yury Ivanskiy, Anna Sergeenko

Research output: Contribution to journalConference articlepeer-review


We consider a dynamic network system of multiple heterogeneous sensors collaborating among themselves to estimate an unknown signal of interest. That communication capability is essential because individual senors cannot fulfill the task due to the lack of necessary information. This paper considers the distributed estimation or tracking problem and focuses on combining two algorithms: Simultaneous Perturbation Stochastic Approximation (SPSA) and consensus Local Voting Protocol (LVP). The new distributed algorithm is proposed for network systems under wide range of uncertainties including unknown-but-bounded drift of parameters and noise in observations. The suggested approach is illustrated by an application of the proposed algorithm to the solving the multisensor-multitarget problem.

Original languageEnglish
Article number012003
JournalIOP Conference Series: Materials Science and Engineering
Issue number1
StatePublished - 2020
Event2020 International Workshop on Navigation and Motion Control, NMC 2020 - Samara, Russian Federation
Duration: 28 Sep 20204 Oct 2020

Scopus subject areas

  • Materials Science(all)
  • Engineering(all)

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