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This paper presents a novel approach for maneuvering target tracking with mobile robot in unknown clutter environments. This issue involves both simultaneous localization and mapping (SLAM) in dynamic environments and maneuvering objects tracking (MOT), and it is referred to as the SLAMMOT problem. Our approach derived by Integrating the full covariance extend Kalman filter based SLAM (EKFSLAM) algorithm...
We consider the problem of tracking the state of a hybrid system capable of performing a bounded number of mode switches. The system is assumed to follow either a nominal or an anomalous model, where the nominal model may stand for, e.g., the non-maneuvering motion regime of a target or the fault-free operation mode of a sensor, and the anomalous model may stand for, e.g., the abrupt evasive maneuvers...
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