Multi-Sensor Control for Jointly Searching and Tracking Multi-Target Using the Poisson Multi-Bernoulli Mixture Filter

In this paper, a multi-sensor control method with limited sensor field-of-view (FoV) based on Poisson multi-Bernoulli mixture (PMBM) filter is proposed, which provides a solution to the multi-target joint search and tracking problem. First, we propose a robust fusion method for multi-sensor PMBM posterior densities with limited sensor FoV based on the generalized covariance intersection (GCI) fusion criterion. Then, a cost function is constructed for multi-sensor control based on the fused density, which takes into account both discovered and undiscovered targets. The optimal multi-sensor control scheme is obtained by minimizing the cost function. The effectiveness of the proposed control method is demonstrated through a multi-target joint search and tracking simulation with unknown and time-varying number of targets and limited FoVs of sensors.