Multi-Bernoulli Sensor-Control via Minimization of Expected Estimation Errors

This paper presents a sensor-control method for choosing the best next state of the sensor(s), that provide(s) accurate estimation results in a multi-target tracking application. The proposed solution is formulated for a multi-Bernoulli filter and works via minimization of a new estimation error-based cost function. Simulation results demonstrate that the proposed method can outperform the state-of-the-art methods in terms of computation time and robustness to clutter while delivering similar accuracy

Sensor Control for Multi-Object Tracking Using Labeled Multi-Bernoulli Filter

The recently developed labeled multi-Bernoulli (LMB) filter uses better approximations in its update step, compared to the unlabeled multi-Bernoulli filters, and more importantly, it provides us with not only the estimates for the number of targets and their states, but also with labels for existing tracks. This paper presents a novel sensor-control method to be used for optimal multi-target tracking within the LMB filter. The proposed method uses a task-driven cost function in which both the state estimation errors and cardinality estimation errors are taken into consideration. Simulation results demonstrate that the proposed method can successfully guide a mobile sensor in a challenging multi-target tracking scenario

Recent advances on recursive filtering and sliding mode design for networked nonlinear stochastic systems: A survey

Copyright © 2013 Jun Hu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.Some recent advances on the recursive filtering and sliding mode design problems for nonlinear stochastic systems with network-induced phenomena are surveyed. The network-induced phenomena under consideration mainly include missing measurements, fading measurements, signal quantization, probabilistic sensor delays, sensor saturations, randomly occurring nonlinearities, and randomly occurring uncertainties. With respect to these network-induced phenomena, the developments on filtering and sliding mode design problems are systematically reviewed. In particular, concerning the network-induced phenomena, some recent results on the recursive filtering for time-varying nonlinear stochastic systems and sliding mode design for time-invariant nonlinear stochastic systems are given, respectively. Finally, conclusions are proposed and some potential future research works are pointed out.This work was supported in part by the National Natural Science Foundation of China under Grant nos. 61134009, 61329301, 61333012, 61374127 and 11301118, the Engineering and Physical Sciences Research Council (EPSRC) of the UK under Grant no. GR/S27658/01, the Royal Society of the UK, and the Alexander von Humboldt Foundation of Germany

Sensor management for multi-target tracking using random finite sets

Sensor management in multi-target tracking is commonly focused on actively scheduling and managing sensor resources to maximize the visibility of states of a set of maneuvering targets in a surveillance area. This project focuses on two types of sensor management techniques: - controlling a set of mobile sensors (sensor control), and - scheduling the resources of a sensor network (sensor selection).​ In both cases, agile sensors are employed to track an unknown number of targets. We advocate a Random Finite Set (RFS)-based approach for formulation of a sensor control/selection technique for multi-target tracking problem. Sensor control/scheduling offers a multi-target state estimate that is expected to be substantially more accurate than the classical tracking methods without sensor management. Searching for optimal sensor state or command in the relevant space is carried out by a decision-making mechanism based on maximizing the utility of receiving measurements.​ In current solutions of sensor management problem, the information of the clutter rate and uncertainty in sensor Field of View (FoV) are assumed to be known in priori. However, accurate measures of these parameters are usually not available in practical situations. This project presents a new sensor management solution that is designed to work within a RFS-based multi-target tracking framework. Our solution does not require any prior knowledge of the clutter distribution nor the probability of detection profile to achieve similar accuracy. Also, we present a new sensor management method for multi-object filtering via maximizing the state estimation confidence. Confidence of an estimation is quantified by measuring the dispersion of the multi-object posterior about its statistical mean using Optimal Sub-Pattern Assignment (OSPA). The proposed method is generic and the presented algorithm can be used with any statistical filter