Jointly-optimized Searching and Tracking with Random Finite Sets
| Main Authors: | Papaioannou Savvas, Kolios Panayiotis, Theocharides Theocharis, Panayiotou Christos, Polycarpou Marios |
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| Format: | Article |
| Terbitan: |
, 2019
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| Subjects: | |
| Online Access: |
https://zenodo.org/record/3360419 |
Daftar Isi:
- In this paper we investigate the problem of joint searching and tracking of multiple mobile targets by a group of mobile agents. The targets appear and disappear at random times inside a surveillance region and their positions are random and unknown. The agents have limited sensing range and receive noisy measurements from the targets. A decision and control problem arises, where the mode of operation (i.e. search or track) as well as the mobility control action for each agent, at each time instance, must be determined so that the collective goal of searching and tracking is achieved. We build our approach upon the theory of random finite sets (RFS) and we use Bayesian multi-object stochastic filtering to simultaneously estimate the time-varying number of targets and their states from a sequence of noisy measurements. We formulate the above problem as a non-linear binary program (NLBP) and show that it can be approximated by a genetic algorithm. Finally, to study the effectiveness and performance of the proposed approach we have conducted extensive simulation experiments.
- © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. S. Papaioannou, P. Kolios, T. Theocharides, C. G. Panayiotou and M. Polycarpou, "Jointly-optimized Searching and Tracking with Random Finite Sets," in IEEE Transactions on Mobile Computing. doi: 10.1109/TMC.2019.2922133 keywords: {Target tracking;Search problems;Mobile computing;Mobile agents;Time measurement;Estimation;Surveillance;Bayesian target tracking;Intelligent systems;Sensor control;Area coverage}, URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8736404&isnumber=4358975