Constrained distributed estimation based on consensus algorithm for mobile robots tracking

We are presenting a distributed algorithm for tracking a moving target using mobile robots, each equipped with sensors. In this work, to cope with the constraints on the noise and states of the target, we employ a distributed estimation algorithm which is based on the concept of moving horizon estimation (MHE). A consensus process in this algorithm guarantees all the mobile robots asymptotically converge to a common value for the estimate of the moving target states. Furthermore, the movement decision of the mobile robots is based on the flocking algorithm.