Figure 10: (a)–(c) Snapshots from the experiment of crossing tracks, proceeding left to right. We are looking at the grid of nodes from the bottom right corner. (d)–(f) Corresponding tracks found by the MCMCDA algorithm at each time step. Reporting sensor nodes are circled in red, postulated tracks are represented by dashed lines, while established tracks are represented by red solid lines. Note that the algorithm makes a bad association at sec, but corrects for it by sec.