PMHT path planning in a non-homogeneous environment

This paper considers the problem of automatically coordinating multiple platforms to explore an unknown environment. A newly developed method for this problem consists of deterministically placing locales within the region and then using the Probabilistic Multi-Hypothesis Tracker (PMHT) to associate these locales with the platforms at specific times. The method uses an integer number of locales at discrete locations to guide the platforms. This paper extends the method to instead guide the platforms using a continuous valued non-uniform intensity map over a continuous spatial domain. The existing method is shown to be a discretised approximation to the continuous intensity map.