Distributed Multiagent Control Approach for Multitarget Tracking

Algorithm 1

Control law of agent .

Input: predicted multi-target density , neighbouring agents and for

(1)   Sampling the multi-object state space ;

(2)   Compute predicted estimation: target number and state ;

(3)   for    do

(4)    Predict based on and ;

(5)    Compute single-sensor multi-target likelihood given by (8) to obtain ;

(6)   end for

(7)   for each   do

(8)    Predict based on and ;

(9)    Compute single-sensor multi-target likelihood given by (8) to obtain ;

(10)  Compute multi-sensor multi-target likelihood given by (10) to obtain ;

(11)  Compute the value given by (9);

(12) end for

Output: