Brief paper: Sensor control for multi-object state-space estimation using random finite sets

Authors:
Branko Ristic;Ba-Ngu Vo
Affiliations:
ISR Division, DSTO, 506 Lorimer Street, Melbourne VIC 3207, Australia;School of EECE, The University of Western Australia, WA 6009, Australia
Venue:
Automatica (Journal of IFAC)
Year:
2010

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Abstract

The problem addressed in this paper is information theoretic sensor control for recursive Bayesian multi-object state-space estimation using random finite sets. The proposed algorithm is formulated in the framework of partially observed Markov decision processes where the reward function associated with different sensor actions is computed via the Renyi or alpha divergence between the multi-object prior and the multi-object posterior densities. The proposed algorithm in implemented via the sequential Monte Carlo method. The paper then presents a case study where the problem is to localise an unknown number of sources using a controllable moving sensor which provides range-only detections. Four sensor control reward functions are compared in the study and the proposed scheme is found to perform the best.