A HYBRID GMM/SMC DIFFUSION BERNOULLI FILTER FOR JOINT DISTRIBUTED DETECTION AND TRACKING

We introduce in this paper the Random Exchange Diffusion Bernoulli Filter (RndEx-BF), which enables joint target detection and tracking by a network of collaborative sensors. RndEx-BF is a fully distributed algorithm that, unlike consensus-based solutions, does not require iterative internode communication between sensor measurements. Internode communication cost is further reduced by a novel hybrid GMM/SMC implementation of the proposed filter. Experimental results show that RndEx-BF approaches the performance of a flooding-based implementation of the optimal centralized Bernoulli filter with much lower bandwidth requirements.