Aspects of Decentralized Tracking under Communication Constraints
Tracking using a centralized architecture, where a single node processes measurement from different sensor nodes, is in most senses optimal. However, in many cases decentralized tracking is to be preferred as it scales better to many sensor nodes, is more robust to and more easily adapts to changes in the available sensor nodes. It might also be the only option if raw sensor data is unavailable. Decentralized tracking is susceptible to data incest. This talk will outline why and also present some solutions. Furthermore, the communication between sensor nodes might be limited. It will be discussed how to select what information to communicate, and it is highlighted that the answer depends on what part of the tracking system is considered.
Gustaf Hendeby (S'04-M'09-SM'17) received the M.Sc. degree in applied physics and electrical engineering in 2002 and the Ph.D. degree in automatic control in 2008, both from Linköping University, Linköping, Sweden.
He is Associate Professor and Docent at the division of Automatic Control, Department of Electrical Engineering, Linköping University. He worked as Senior Researcher at the German Research Center for Artificial Intelligence (DFKI) 2009--2011, as Senior Scientist at Swedish Defense Research Agency (FOI) and held an adjunct Associate Professor position at Linköping University 2011--2015. His main research interests are sensor fusion and stochastic signal processing with applications to nonlinear problems, target tracking, and simultaneous localization and mapping (SLAM), and he is the author of several published articles and conference papers in the area. He has experience of both theoretical analysis as well as implementation aspects.
Dr. Hendeby is since 2018 an Associate Editor for IEEE Transactions on Aerospace and Electronic Systems in the area of target tracking and multisensor systems, and since 2021 leader of the WASP Localization and Navigation Area Cluster. In 2022 he served as general chair for the 25th IEEE International Conference on Information Fusion (FUSION) in Linköping, Sweden and Technical Chair for the 26th IEEE International Conference on Information Fusion in Charleston, SC. He was elected into the International Society of Information Fusion (ISIF) board of directors for the term 2023--2025.