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A Distributed Consensus Particle Filter for Target Tracking using Autonomous Surface Vessels

arXiv · AI, language, vision and robotics · article · Sep 8, 2026 · UTC

Maritime target tracking over large distances often requires multi-agent teams without centralized coordination, and intermittent communication. Each agent must maintain an independent estimate that can take advantage of opportunistic communications availability when possible. This can lead to overly confident local estimates in the absence of external data. In this work, we propose an augmentation to a classical particle filter implementation that accounts for this potential source of error by forcing particles to spread strategically in the absence of informative updates from other sensor no

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