Multi-sensor optimal information fusion Kalman filter with mobile agents in ring sensor networks

In this paper, two mobile agent based distributed Kalman filter algorithms are proposed for optimal information fusion in sensor networks. In the proposed methods, mobile agents (MAs) play an important and fundamental role in information fusion. A mobile agent travels among the sensors and collects the necessary information. The collected information is carried to a fusion centre in which the optimal state estimates are computed. Finally, the proposed methods are applied on a radar tracking system with five sensors arranged in two rings with some faulty sensors. Performance of the proposed methods will be compared with the centralized Kalman filter.