Distributed Multiagent Control Approach for Multitarget Tracking

الملخص EN

In multiagent systems, tracking multiple targets is challenging for two reasons: firstly, it is nontrivial to dynamically deploy networked agents of different types for utility optimization; secondly, information fusion for multitarget tracking is difficult in the presence of uncertainties, such as data association, noise, and clutter.

In this paper, we present a novel control approach in distributed manner for multitarget tracking.

The control problem is modelled as a partially observed Markov decision process, which is a NP-hard combinatorial optimization problem, by seeking all possible combinations of control commands.

To solve this problem efficiently, we assume that the measurement of each agent is independent of other agents’ behavior and provide a suboptimal multiagent control solution by maximizing the local Rényi divergence.

In addition, we also provide the SMC implementation of the sequential multi-Bernoulli filter so that each agent can utilize the measurements from neighbouring agents to perform information fusion for accurate multitarget tracking.

Numerical studies validate the effectiveness and efficiency of our multiagent control approach for multitarget tracking.