Target Tracking using Robust Sensor Motion Control
Signal Processing
2025-03-03 v1
Abstract
We consider the problem of tracking moving targets using mobile wireless sensors (of possibly different types). This is a joint estimation and control problem in which a tracking system must take into account both target and sensor dynamics. We make minimal assumptions about the target dynamics, namely only that their accelerations are bounded. We develop a control law that determines the sensor motion control signals so as to maximize target resolvability as the target dynamics evolve. The method is given a tractable formulation that is amenable to an efficient search method and is evaluated in a series of experiments involving both round-trip time based ranging and Doppler frequency shift measurements
Keywords
Cite
@article{arxiv.2502.20986,
title = {Target Tracking using Robust Sensor Motion Control},
author = {Jingwei Hu and Dave Zachariah and Petre Stoica},
journal= {arXiv preprint arXiv:2502.20986},
year = {2025}
}