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a distributed database view of network tracking systems
A distributed database view of network tracking systems
Jason Yosinskia and Randy Paffenrotha
aNumerica Corporation, 4850 Hahns Peak Drive Suite 200, Loveland, CO 80538, USA
ABSTRACT
In distributed tracking systems, multiple non-collocated trackers cooperate to fuse local sensor data into a
global track picture. Generating this global track picture at a central location is fairly straightforward, but the
single point of failure and excessive bandwidth requirements introduced by centralized processing motivate the
development of decentralized methods. In many decentralized tracking systems, trackers communicate with their
peers via a lossy, bandwidth-limited network in which dropped, delayed, and out of order packets are typical.
Oftentimes the decentralized tracking problem is viewed as a local tracking problem with a networking twist;
we believe this view can underestimate the network complexities to be overcome. Indeed, a subsequent ‘oversight’
layer is often introduced to detect and handle track inconsistencies arising from a lack of robustness to network
conditions.
We instead pose the decentralized tracking problem as a distributed database problem, enabling us to draw
inspiration from the vast extant literature on distributed databases. Using the two-phase commit algorithm, a
well known technique for resolving transactions across a lossy network, we describe several ways in which one
may build a distributed multiple hypothesis tracking system from the ground up to be robust to typical network
intricacies. We pay particular attention to the dissimilar challenges presented by network track initiation vs.
maintenance and suggest a hybrid system that balances speed and robustness by utilizing two-phase commit for
only track initiation transactions. Finally, we present simu
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