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Summary: 4656 IEEE TRANSACTIONS ON SIGNAL PROCESSING, VOL. 55, NO. 9, SEPTEMBER 2007
Distributed Tracking in Multihop Sensor Networks
With Communication Delays
Rashedur Rahman, Murat Alanyali, Member, IEEE, and Venkatesh Saligrama, Senior Member, IEEE
Abstract--We describe distributed tracking of a nonlinear dy-
namical system via networked sensors. The sensors communicate
with each other by means of a multihop protocol over a commu-
nication network.We derive in-network processing algorithms to
deal with arbitrary network topology and then extend these results
to account for communication delays and packet losses. We show
that these algorithms are optimal in the linear setting and achieve
centralized performance. The proposed techniques differ from ex-
isting techniques in two important aspects: a) there is no designated
leader/fusion node and each sensor attempts to optimally track the
system trajectory based on its local observations and time-depen-
dent information available from other sensors in the network; b)
the message computation at each sensor is structurally identical.
Consequently, the sensor network can be queried at any time and
at any node to obtain optimal estimates for the state of the dynam-
ical system. We then present two multihop protocols--one based
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