Digital Twin-Enabled Online Battlefield Learning with Random Finite Sets

Algorithm 1

RFS-based online battlefield learning algorithm.

	Input:
	Output:
(1)	for to do
(2)	Generate the particles for the UGV state, ;
(3)	Get predicted battlefield PHD through the predict step of PHD filter;
(4)	Get updated battlefield PHD through the update step of PHD filter;
(5)	Get predicted PHD mass ;
(6)	Get updated PHD mass ;
(7)	Select a given battlefield state ;
(8)	;
(9)	;
(10)	Get updated UGV state weight ;
(11)	end for
(12)	Initialize the learned battlefield state , ;
(13)	Determine the maximum weight component ;
(14)	Update UGV state with ;
(15)	Update battlefield state according to the related PHD:
(16)	for to do
(17)	if , here is the landmark existence threshold
(18)	Generate new battlefield state by ;
(19)	end if
(20)	end for
(21)	Return .