Target Tracking using Robust Sensor Motion Control
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866915176803991552 |
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| author | Hu, Jingwei Zachariah, Dave Stoica, Petre |
| author_facet | Hu, Jingwei Zachariah, Dave Stoica, Petre |
| contents | 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 |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_20986 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Target Tracking using Robust Sensor Motion Control Hu, Jingwei Zachariah, Dave Stoica, Petre Signal Processing 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 |
| title | Target Tracking using Robust Sensor Motion Control |
| topic | Signal Processing |
| url | https://arxiv.org/abs/2502.20986 |