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arXiv · 2502.20986

Target Tracking using Robust Sensor Motion Control

Jingwei Hu·Dave Zachariah·Petre Stoica
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Abstract

We consider the problem of tracking moving targets using mobile wireless sensors (of possibly different types). This is a joint estimation and control problem in which a tracking system must take into account both target and sensor dynamics. We make minimal assumptions about the target dynamics, namely only that their accelerations are bounded. We develop a control law that determines the sensor motion control signals so as to maximize target resolvability as the target dynamics evolve. The method is given a tractable formulation that is amenable to an efficient search method and is evaluated in a series of experiments involving both round-trip time based ranging and Doppler frequency shift measurements

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Jingwei Hu, Dave Zachariah, Petre Stoica. 2025-02-28. Target Tracking using Robust Sensor Motion Control. https://arxiv.org/abs/2502.20986

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