Non-centralized target tracking with mobile agents

In this paper we consider the problem of target tracking in a network of mobile agents. We propose a scheme with agents that are endowed with processing and decision-making capabilities and with out a central unit that controls them and/or fuses information. The agents measure received signal strengths from the targets and communicate it to the remaining agents engaged in the tracking. Each agent applies particle filtering for tracking and uses an algorithm for optimal agent deployment for the next time instant. We describe the details of the tracking from its initialization to its completion. We demonstrate the proposed method by computer simulations.