Distributed Bayesian Tracking on the Special Euclidean Group using Lie Algebra Parametric Approximations
CLAUDIO JOSE BORDIN JUNIOR (Universidade Federal do ABC); CAIO DE FIGUEREDO (INSTITUTO FEDERAL DO CEARA); Marcelo G S Bruno (ITA)
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08 Jun 2023
This paper proposes new distributed particle filters for tracking the state of a dynamic system that evolves on the Special Euclidean Group. The algorithms are based on the Random Exchange diffusion technique and build compressed parametric approximations to the particles using Lie algebras. Via numerical simulations, we observe that the proposed methods perform similarly to a centralized particle filter, surpassing an extended Kalman filter by a large margin.
