Table 3 Comparison of computational loads and communication overheads for centralized, completely decentralized, federated decentralized and federated distributed filters for sampling of the complex field shown in Figures 6 , 7 , and 8
Computations | Communication | |||
|---|---|---|---|---|
Robot | Fusion Center | Combined | ||
Centralized filter | – | 1.34 × 106 | 1.34 × 106 | 320 |
Completely decentralized filter | 383.94 × 106 | – | 1,535.77 × 106 | 1,251.94 × 103 |
Federated decentralized filter | 333.86 × 106 | 16.69 × 106 | 1,352.13 × 106 | 834.62 × 103 |
Federated distributed filter | 5.51 × 106 | 16.69 × 106 | 38.73 × 106 | 121.02 × 103 |