Multi-target sensor management using alpha-divergence measures

Abstract

This paper presents a sensor management scheme based on maximizing the expected Rényi Information Divergence at each sample, applied to the problem of tracking multiple targets. The underlying tracking methodology is a multiple target tracking scheme based on recursive estimation of a Joint Multitarget Probability Density (JMPD), which is implemented using particle filtering methods. This Bayesian method for tracking multiple targets allows nonlinear, non-Gaussian target motion and measurement-to-state coupling. Our implementation of JMPD eliminates the need for a regular grid as required for finite element-based schemes, yielding several computational advantages. The sensor management scheme is predicated on maximizing the expected Rényi Information Divergence between the current JMPD and the JMPD after a measurement has been made. The Rényi Information Divergence, a generalization of the Kullback-Leibler Distance, provides a way to measure the dissimilarity between two densities. We evaluate the expected information gain for each of the possible measurement decisions, and select the measurement that maximizes the expected information gain for each sample. © Springer-Verlag Berlin Heidelberg 2003.