Particle Weight Approximation with Clustering for Gossip-Based Distributed Particle Filters

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Authors
  1. Chao, C.W.
  2. Rabbat, M.
  3. Blouin, S.
Corporate Authors
Defence Research and Development Canada, Atlantic Research Centre, Halifax NS (CAN);McGill Univ, Montreal QUE (CAN) Dept of Electrical Engineering
Abstract
Distributed particle filters are appealing for cooperative tracking in distributed systems. However, a non-negligible amount of communication overhead can be required to synchronize the particle weights between agents. In this paper, a particle wight approximation method based on clustering is proposed to reduce the communication overhead with minimal assumptions on the particle cloud distribution. The proposed algorithm is evaluated on both simulated data and data from an at-sea trial involving bearings-only tracking. The results demonstrate that the proposed approach achieves state-of-the-art accuracy, especially in cases with a limited communication budget.
Keywords
particle filter;clustering
Report Number
DRDC-RDDC-2016-P004 — External Literature
Date of publication
01 Dec 2015
Number of Pages
4
DSTKIM No
CA041882
CANDIS No
803002
Format(s):
Electronic Document(PDF)

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