×

Sensor management for multi-target tracking via multi-Bernoulli filtering. (English) Zbl 1298.93302

Summary: 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 modeled as a multi-Bernoulli RFS, and the multi-Bernoulli filter is used in conjunction with two different control objectives: maximizing the expected Rényi 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.

MSC:

93E03 Stochastic systems in control theory (general)
62C12 Empirical decision procedures; empirical Bayes procedures
PDFBibTeX XMLCite
Full Text: DOI arXiv

References:

[1] Castanón, D. A.; Carin, L., Stochastic control theory for sensor management, (Hero, A. O.; Castanón, D. A.; Cochran, D.; Kastella, K., Foundations and applications of sensor management (2008), Springer), 7-32, (chapter 2)
[2] Daley, D.; Vere-Jones, D., An introduction to the theory of point processes (1988), Springer-Verlag · Zbl 0657.60069
[3] Doucet, A.; Vo, B.-N.; Andrieu, C.; Davy, M., Particle filtering for multi-target tracking and sensor management, (Proceedings of the 5th annual conference on information fusion (FUSION 2002), Vol. 1 (2002), Annapolis Maryland), 474-481
[4] Hero, A. O.; Kreucher, C. M.; Blatt, D., Information theoretic approaches to sensor management, (Hero, A. O.; Castanón, D. A.; Cochran, D.; Kastella, K., Foundations and applications of sensor management (2008), Springer), 33-57, chapter 3
[6] Mahler, R., Multi-target Bayes filtering via first-order multi-target moments, IEEE Transactions on Aerospace and Electronic Systems, 39, 4, 1152-1178 (2003)
[8] Mahler, R., Multitarget sensor management of dispersed mobile sensors, (Grundel, D.; Murphey, R.; Pardalos, P., Theory and algorithms for cooperative systems (2004), World Scientific Books), 239-310, chapter 12 · Zbl 1114.90407
[9] Mahler, R., PHD filters of higher order in target number, IEEE Transactions on Aerospace and Electronic Systems, 43, 4, 1523-1543 (2007)
[10] Mahler, R., Statistical multisource-multitarget information fusion (2007), Artech House · Zbl 1126.68080
[11] Ristic, B.; Arulampalam, S.; Gordon, N., Beyond the Kalman filter: particle filters for tracking applications (2004), Artech House · Zbl 1092.93041
[12] Ristic, B.; Vo, B.-N., Sensor control for multi-object state-space estimation using random finite sets, Automatica, 46, 11, 1812-1818 (2010) · Zbl 1218.93095
[13] Ristic, B.; Vo, B.-N.; Clark, D., A note on the reward function for PHD filters with sensor control, IEEE Transactions on Aerospace and Electronic Systems, 47, 2, 1521-1529 (2011)
[14] Schumacher, D.; Vo, B.-T.; Vo, B.-N., A consistent metric for performance evaluation of multi-object filters, IEEE Transactions on Signal Processing, 56, 8, 3447-3457 (2008) · Zbl 1390.94399
[15] Singh, S.; Kantas, N.; Vo, B.-N.; Doucet, A.; Evans, R., Simulation based optimal sensor scheduling with application to observer trajectory planning, Automatica, 43, 5, 817-830 (2007) · Zbl 1117.93377
[16] Stoyan, D.; Kendall, D.; Mecke, J., Stochastic geometry and its applications (1995), John Wiley & Sons · Zbl 0838.60002
[17] Vo, B.-N.; Ma, W.-K., The Gaussian mixture probability hypothesis density filter, IEEE Transactions on Signal Processing, 54, 11, 4091-4104 (2006) · Zbl 1374.94614
[18] Vo, B.-N.; Singh, S.; Doucet, A., Sequential Monte Carlo methods for multi-target filtering with random finite sets, IEEE Transactions on Aerospace and Electronic Systems, 41, 4, 1224-1245 (2005)
[19] Vo, B.-T.; Vo, B.-N.; Cantoni, A., Analytic implementations of the cardinalized probability hypothesis density filter, IEEE Transactions on Signal Processing, 55, 7, 3553-3567 (2007) · Zbl 1391.94431
[20] Vo, B.-T.; Vo, B.-N.; Cantoni, A., The cardinality balanced Multi-Target Multi-Bernoulli filter and its implementations, IEEE Transactions on Signal Processing, 57, 2, 409-423 (2009) · Zbl 1391.94432
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.