Sensor management for multi-target tracking via multi-Bernoulli filtering
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Abstract: In multi-object stochastic systems, the issue of sensor management is a theoretically and computationally challenging problem. In this paper, we present a novel random finite set (RFS) approach to the multi-target sensor management problem within the partially observed Markov decision process (POMDP) framework. The multi-target state is modelled as a multi-Bernoulli RFS, and the multi-Bernoulli filter is used in conjunction with two different control objectives: maximizing the expected R'enyi divergence between the predicted and updated densities, and minimizing the expected posterior cardinality variance. Numerical studies are presented in two scenarios where a mobile sensor tracks five moving targets with different levels of observability.
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- A risk-based multisensor optimization scheduling method for target threat assessment
- On Arithmetic Average Fusion and Its Application for Distributed Multi-Bernoulli Multitarget Tracking
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- Random finite set: theory, application and implementation for multi-target tracking
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- Robust multisensor member filter for multiple extended-target tracking
- Distributed multiagent control approach for multitarget tracking
- Approximate Multi-Hypothesis Multi-Bernoulli Multi-Object Filtering Made Multi-Easy
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