Stone Soup Multi-Target Tracking Feature Extraction For Autonomous Search And Track In Deep Reinforcement Learning Environment
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arXiv
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| Format: | Preprint |
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2025
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| author | Ewers, Jan-Hendrik Gibbs, Joe Anderson, David |
| author_facet | Ewers, Jan-Hendrik Gibbs, Joe Anderson, David |
| contents | Management of sensing resources is a non-trivial problem for future military air assets with future systems deploying heterogeneous sensors to generate information of the battlespace. Machine learning techniques including deep reinforcement learning (DRL) have been identified as promising approaches, but require high-fidelity training environments and feature extractors to generate information for the agent. This paper presents a deep reinforcement learning training approach, utilising the Stone Soup tracking framework as a feature extractor to train an agent for a sensor management task. A general framework for embedding Stone Soup tracker components within a Gymnasium environment is presented, enabling fast and configurable tracker deployments for RL training using Stable Baselines3. The approach is demonstrated in a sensor management task where an agent is trained to search and track a region of airspace utilising track lists generated from Stone Soup trackers. A sample implementation using three neural network architectures in a search-and-track scenario demonstrates the approach and shows that RL agents can outperform simple sensor search and track policies when trained within the Gymnasium and Stone Soup environment. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_01293 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Stone Soup Multi-Target Tracking Feature Extraction For Autonomous Search And Track In Deep Reinforcement Learning Environment Ewers, Jan-Hendrik Gibbs, Joe Anderson, David Robotics Machine Learning Systems and Control Management of sensing resources is a non-trivial problem for future military air assets with future systems deploying heterogeneous sensors to generate information of the battlespace. Machine learning techniques including deep reinforcement learning (DRL) have been identified as promising approaches, but require high-fidelity training environments and feature extractors to generate information for the agent. This paper presents a deep reinforcement learning training approach, utilising the Stone Soup tracking framework as a feature extractor to train an agent for a sensor management task. A general framework for embedding Stone Soup tracker components within a Gymnasium environment is presented, enabling fast and configurable tracker deployments for RL training using Stable Baselines3. The approach is demonstrated in a sensor management task where an agent is trained to search and track a region of airspace utilising track lists generated from Stone Soup trackers. A sample implementation using three neural network architectures in a search-and-track scenario demonstrates the approach and shows that RL agents can outperform simple sensor search and track policies when trained within the Gymnasium and Stone Soup environment. |
| title | Stone Soup Multi-Target Tracking Feature Extraction For Autonomous Search And Track In Deep Reinforcement Learning Environment |
| topic | Robotics Machine Learning Systems and Control |
| url | https://arxiv.org/abs/2503.01293 |