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A new technique is described by which radar tracks can be established and maintained in a dense multitarget environment. These targets may fly in formation, maneuver relative to each other, or be on crossing paths. They may fade and reappear, lose their resolution, or become resolved. If the formation members move apart, the formation track is split into separate tracks. Typical requirements for a formation tracking system are stated, followed by a discussion of the principles on which this design is based. The same logic applies both to single targets and to forma. tions. Finally, results from field tests are presented.