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We propose a distributed (single) target tracking scheme based on networkedestimation and consensus algorithms over static sensor networks. The trackingpart is based on linear time-difference-of-arrival (TDOA) measurement proposedin our previous works. This paper, in particular, develops delay-tolerantdistributed filtering solutions over sparse data-transmission networks. Weassume general arbitrary heterogeneous delays at different links. This mayoccur in many realistic large-scale applications where the data-sharing betweendifferent nodes is subject to latency due to communication-resource constraintsor large spatially distributed sensor networks. The solution we propose in thiswork shows improved performance (verified by both theory and simulations) insuch scenarios. Another privilege of such distributed schemes is thepossibility to add localized fault-detection and isolation (FDI) strategiesalong with survivable graph-theoretic design, which opens many follow-up venuesto this research. To our best knowledge no such delay-tolerant distributedlinear algorithm is given in the existing distributed tracking literature.

Consensus-based Networked Tracking in Presence of Heterogeneous Time-Delays