Target tracking with asynchronous measurements by a network of distributed mobile agents

In this paper we consider the problem of target tracking in a network of mobile agents that receive asynchronous measurements. The agents measure received signal strengths from the target and broadcast the information to the remaining agents engaged in the tracking. We propose several non-centralized schemes based on particle filtering that account for the lack of synchronization. We demonstrate the proposed methods by computer simulations and compare their performance to the synchronous scenario. The obtained results reveal that the proposed strategies efficiently compensate for the asynchronism of the measurements.