Nonmyopic sensor scheduling and its efficient implementation for target tracking applications

DOI10.1155/ASP/2006/31520MaRDI QIDQ2500911zbMATH OpenOpenAlexFDO

Authors Amit S. Chhetri, Darryl Morrell, Antonia Papandreou-Suppappola

Publication date 28 August 2006

Published in EURASIP Journal on Applied Signal Processing (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1155/asp/2006/31520

Mathematics Subject Classification ID

Deterministic scheduling theory in operations research (90B35) Polyhedral combinatorics, branch-and-bound, branch-and-cut (90C57)

Review text

Summary: We propose two nonmyopic sensor scheduling algorithms for target tracking applications. We consider a scenario where a bearing-only sensor is constrained to move in a finite number of directions to track a target in a two-dimensional plane. Both algorithms provide the best sensor sequence by minimizing a predicted expected scheduler cost over a finite time-horizon. The first algorithm approximately computes the scheduler costs based on the predicted covariance matrix of the tracker error. The second algorithm uses the unscented transform in conjunction with a particle filter to approximate covariance-based costs or information-theoretic costs. We also propose the use of two branch-and-bound-based optimal pruning algorithms for efficient implementation of the scheduling algorithms. We design the first pruning algorithm by combining branch-and-bound with a breadth-first search and a greedy-search; the second pruning algorithm combines branch-and-bound with a uniform-cost search. Simulation results demonstrate the advantage of nonmyopic scheduling over myopic scheduling and the significant savings in computational and memory resources when using the pruning algorithms.

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