Minimalist multiple target tracking using directional sensor beams

We consider the problem of determining the paths of multiple, unpredictable moving bodies in a cluttered environment using weak detection sensors that provide simple crossing information. Each sensor is a beam that, when broken, provides the direction of the crossing (one bit) and nothing else. Using a simple network of beams, the individual paths are separated and reconstructed as well as possible, up to combinatorial information about the route taken. In this setup, simple filtering algorithms are introduced, and a low-cost hardware implementation that demonstrates the practicality of the approach is shown. The results may apply in settings such as verification of multirobot system execution, surveillance and security, and unobtrusive behavioral monitoring for wildlife and the elderly.