Convergence analysis of consensus belief functions within asynchronous ad-hoc fusion networks

In a multi-agent data fusion scenario, agents may iteratively exchange their states to arrive at a consensus state which signifies `general agreement´ among the agents. Agent states that are being exchanged may have been generated from hard (i.e., physics based) or soft (i.e., human based evidence. such as opinions or beliefs regarding an event) sensors. Convergence analysis becomes an extremely challenging problem in such complex fusion environments, which may involve communication delays, ad-hoc paths, etc. In this paper, we analyze consensus of a Dempster-Shafer theoretic (DST) fusion operator by formulating the consensus problem as finding common fixed points of a pool of paracontracting operators. Due to its DST basis, this consensus protocol can deal with a wider variety of data imperfections characteristic of hard+soft data fusion environments. It also easily adapts itself to networks where agent states are captured with probability mass functions because they can be considered a special case of DST models.