Distributed Multiagent Control Approach for Multitarget Tracking

Algorithm 2

SMC sequential multisensor multi-Bernoulli filter.

Prediction:

Input:  

(1)   for Survival targets:   do

(2)    for , sample , compute weight and normalization

(3)    compute ,

(4)   end for

(5)   for newborn targets:   do

(6)    for , sample , compute weight and normalization

(7)    compute ,

(8)   end for

Output:  

Update:

Input:  ; neighbouring agents , and for

(1)   for    do

(2)    for Legacy targets:   do

(3)     compute and normalization , compute pseudo-likelihood

(4)     compute ,

(5)    end for

(6)    for    do

(7)     for Measurement-updated targets:   do

(8)      compute and normalization , compute pseudo-likelihood

(9)      compute ,

(10)   end for

(11)  end for

(12)  

(13) end for

Output: