2023/01/21 by Dom Huh, Prasant Mohapatra, Huh, Dom +1
Computer Science · Engineering · #Artificial Intelligence (cs.AI) #Distributed Sensor Networks and Detection Algorithms #FOS: Computer and information sciences #Indoor and Outdoor Localization Technologies #Multiagent Systems (cs.MA) #Target Tracking and Data Fusion in Sensor Networks
paper · pdf · doi:10.48550/arxiv.2301.08864
openalex publication_date 2023/01/21 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper addresses the considerations that comes along with adopting decentralized communication for multi-agent localization applications in discrete state spaces. In this framework, we extend the original formulation of the Bayes filter, a foundational probabilistic tool for discrete state estimation, by appending a step of greedy belief sharing as a method to propagate information and improve local estimates' posteriors. We apply our work in a model-based multi-agent grid-world setting, where each agent maintains a belief distribution for every agents' state. Our results affirm the utility of our proposed extensions for decentralized collaborative tasks. The code base for this work is available in the following repo