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

摘要

This paper presents a sensor-control method for choosing the best next stateof the sensor(s), that provide(s) accurate estimation results in a multi-targettracking application. The proposed solution is formulated for a multi-Bernoullifilter and works via minimization of a new estimation error-based costfunction. Simulation results demonstrate that the proposed method canoutperform the state-of-the-art methods in terms of computation time androbustness to clutter while delivering similar accuracy.