Multi-Sensor Control for Multi-Target Tracking Using Cauchy-Schwarz Divergence

Abstract

The paper addresses the problem of multi-sensor control for multi-target tracking via labelled random finite sets (RFS) in the sensor network systems. Based on an information theoretic divergence measure, namely Cauchy-Schwarz (CS) divergence which admits a closed form solution for GLMB densities, we propose two novel multi-sensor control approaches in the framework of generalized Covariance Intersection (GCI). The first joint decision making (JDM) method is optimal and can achieve overall good performance, while the second independent decision making (IDM) method is suboptimal as a fast realization with smaller amount of computations. Simulation in challenging situation is presented to verify the effectiveness of the two proposed approaches.