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The multi-Bernoulli (MB) filter is a new attractive approach for multi-target filtering in the presence of clutter and detection uncertainty. However, the computational complexity grows as clutter density increases. The clutter measurements may also degrade the filtering accuracy. To eliminate the clutter measurements and reduce the computational complexity, gating technique for the Gaussian mixture...
In this paper we study the flocking control in the case of a small subset of informed agents. In nature, only few agents in a group have the information of the target, such as knowledge about the location of a food source, or the migration route. However, they can still flock together in a group based on local information. Inspired by this natural phenomenon, a flocking control algorithm is designed...
Birds, bees, and fish often flock together in groups to find the source of food (target) based on local information. Inspired by this natural phenomenon, a flocking control algorithm is designed to coordinate the activities of multiple agents in noisy environments. Based on this algorithm, all agents can form a network and maintain connectivity. This is of great advantage for agents to exchange information...
Target tracking is an important task in sensor networks, especially in mobile sensor networks. Flocking control is used to control a mobile sensor network to track a target. However, there are some existing problems in this control method, such as network fragmentation, loss of formation and poor tracking performance. In order to handle these problems we propose a novel approach to flocking control...
Tracking and observing multiple dynamic targets is an important task in mobile sensor networks. This paper presents a novel approach to the problem of sensor splitting/ merging for a mobile sensor network to track and observe multiple targets in a dynamic fashion. In this approach, a seed growing graph partition (SGGP) algorithm is proposed to solve the splitting/merging problem. Furthermore, during...
This paper presents a new approach to flocking control of a mobile sensor network to track a moving target. In our approach, the center of mass (CoM) of positions and velocities of all mobile sensors in the network (Single-CoM) or the center of mass of position and velocity of each sensor and its neighbors (Multi-CoM) is controlled to track and observe a moving target. In addition, we prove that the...
This paper proposes a localization algorithm that can be used to track and locate multiple mobile subjects in a wireless ad hoc network. An algorithm called adaptive dynamic localization is proposed. It is based on a dynamic multidimensional scaling (DMDS) method which reduces the localization error by adding virtual nodes till the network turns adequately dense and connected. The shortcomings which...
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