Nonlinear estimation of a maneuvering target with bounded acceleration using multiple mobile sensors

This paper proposes a cooperative nonlinear filter to estimate the states of a maneuvering target with unknown dynamics and bounded acceleration using multiple mobile sensors. The proposed filter is applied to a vision-based estimation task in which multiple unmanned aerial vehicles equipped with monocular cameras are employed to estimate the position and velocity of a maneuvering target. Its performance is validated through extensive numerical simulations.