Consensus-based Networked Tracking in Presence of Heterogeneous Time-Delays

Mohammadreza Doostmohammadian*, Mohammad Pirani, Usman A. Khan

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


We propose a distributed (single) target tracking scheme based on networked estimation and consensus algorithms over static sensor networks. The tracking part is based on linear time-difference-of-arrival (TDOA) measurement proposed in our previous works. This paper, in particular, develops delay-tolerant distributed filtering solutions over sparse data-transmission networks. We assume general arbitrary heterogeneous delays at different links. This may occur in many realistic large-scale applications where the data-sharing between different nodes is subject to latency due to communication-resource constraints or large spatially distributed sensor networks. The solution we propose in this work shows improved performance (verified by both theory and simulations) in such scenarios. Another privilege of such distributed schemes is the possibility to add localized fault-detection and isolation (FDI) strategies along with survivable graph-theoretic design, which opens many follow-up venues to this research. To our best knowledge no such delay-tolerant distributed linear algorithm is given in the existing distributed tracking literature.

Original languageEnglish
Title of host publication10th RSI International Conference on Robotics and Mechatronics, ICRoM 2022
Number of pages6
ISBN (Electronic)978-1-6654-5452-0
Publication statusPublished - 1 Feb 2023
MoE publication typeA4 Article in a conference publication
EventInternational Conference on Robotics and Mechatronics - Tehran, Iran, Islamic Republic of
Duration: 15 Nov 202218 Nov 2022

Publication series

Name10th RSI International Conference on Robotics and Mechatronics, ICRoM 2022


ConferenceInternational Conference on Robotics and Mechatronics
Abbreviated titleICRoM
Country/TerritoryIran, Islamic Republic of


  • distributed observability
  • Networked filtering
  • TDOA measurements
  • time-delay


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