Cooperative Localization and Multitarget Tracking in Agent Networks with the Sum-Product Algorithm

This paper addresses the problem of multitarget tracking using a network of sensing agents with unknown positions. Agents have to both localize themselves in the sensor network and, at the same time, perform multitarget tracking in the presence of clutter and miss detection. These two problems are j...

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Bibliographic Details
Published in:IEEE open journal of signal processing 2022, Vol.3, p.169-195
Main Authors: Brambilla, Mattia, Gaglione, Domenico, Soldi, Giovanni, Mendrzik, Rico, Ferri, Gabriele, LePage, Kevin D., Nicoli, Monica, Willett, Peter, Braca, Paolo, Win, Moe Z.
Format: Article
Language:English
Subjects:
Algorithms
Autonomous underwater vehicles
Belief propagation
Clutter
Data acquisition
Electronic mail
Experimentation
factor graph
Graph theory
Localization
maritime surveillance
Measurement uncertainty
Message passing
Multiple target tracking
probabilistic data association
Signal processing algorithms
Sum product algorithm
Surveillance
Target acquisition
Target tracking
Transmitters
Uncertainty
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Summary:This paper addresses the problem of multitarget tracking using a network of sensing agents with unknown positions. Agents have to both localize themselves in the sensor network and, at the same time, perform multitarget tracking in the presence of clutter and miss detection. These two problems are jointly resolved using a holistic and centralized approach where graph theory is used to describe the statistical relationships among agent states, target states, and observations. A scalable message passing scheme, based on the sum-product algorithm, enables to efficiently approximate the marginal posterior distributions of both agent and target states. The proposed method is general enough to accommodate a full multistatic network configuration, with multiple transmitters and receivers. Numerical simulations show superior performance of the proposed joint approach with respect to the case in which cooperative self-localization and multitarget tracking are performed separately, as the former manages to extract valuable information from targets. Lastly, data acquired in 2018 by the NATO Science and Technology Organization (STO) Centre for Maritime Research and Experimentation (CMRE) through a network of autonomous underwater vehicles demonstrates the effectiveness of the approach in a practical application.
ISSN:2644-1322
2644-1322
DOI:10.1109/OJSP.2022.3154684