2021 IEEE International Conference on Acoustics, Speech and Signal Processing

6-11 June 2021 • Toronto, Ontario, Canada

Extracting Knowledge from Information

2021 IEEE International Conference on Acoustics, Speech and Signal Processing

6-11 June 2021 • Toronto, Ontario, Canada

Extracting Knowledge from Information

Technical Program

Paper Detail

Paper IDSPTM-23.1
Paper Title COOPERATIVE PARAMETER TRACKING ON THE UNIT SPHERE USING DISTRIBUTED ADAPT-THEN-COMBINE PARTICLE FILTERS AND PARALLEL TRANSPORT
Authors Caio de Figueredo, Instituto Tecnológico de Aeronáutica, Brazil; Claudio Bordin, Universidade Federal do ABC, Brazil; Marcelo Bruno, Instituto Tecnológico de Aeronáutica, Brazil
SessionSPTM-23: Bayesian Signal Processing
LocationGather.Town
Session Time:Friday, 11 June, 14:00 - 14:45
Presentation Time:Friday, 11 June, 14:00 - 14:45
Presentation Poster
Topic Signal Processing Theory and Methods: [SSP] Statistical Signal Processing
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Virtual Presentation  Click here to watch in the Virtual Conference
Abstract This paper introduces a new distributed Adapt-then-Combine (ATC) diffusion algorithm for cooperative tracking of an unknown 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.