Passivity-based Distributed 3-D Visual Human Localization Algorithm

Riku FUNADA, Shunya YAMASHITA, Takeshi HATANAKA, Masayuki FUJITA
2018 Transactions of the Society of Instrument and Control Engineers  
In this paper, we address distributed 3-D visual human localization for a visual sensor network and present a passivity-based solution. We first formulate the intended problem as a distributed optimization problem. A passivity-based distributed optimization algorithm is then applied to the problem, and it is pointed out that it ensures asymptotic optimality but the convergence speed is considerably slow. To accelerate the convergence, we present a novel algorithm based on a loop shaping
more » ... e and it is shown to maintain convergence to the optimal solution based on passivity. The present algorithm is finally demonstrated through simulation, wherein not only convergence acceleration but also robustness against disturbances are confirmed.
doi:10.9746/sicetr.54.547 fatcat:wyrvlxh5ojgczb476hlumuw5dy