Distributed Multi-Target Tracking for Autonomous Vehicle Fleets
Ola Shorinwa,Javier Yu,Trevor Halsted,Alex Koufos,Mac Schwager,Ola Shorinwa,Javier Yu,Trevor Halsted,Alex Koufos,Mac Schwager
We present a scalable distributed target tracking algorithm based on the alternating direction method of multipliers that is well-suited for a fleet of autonomous cars communicating over a vehicle-to-vehicle network. Each sensing vehicle communicates with its neighbors to execute iterations of a Kalman filter-like update such that each agent's estimate approximates the centralized maximum a poster...
