On Self-Localization and Tracking with an Unknown Number of Targets

Pranay Sharma; Augustin Alexandru Saucan; Donald J. Bucci; Pramod K. Varshney

doi:10.1109/ACSSC.2018.8645547

On Self-Localization and Tracking with an Unknown Number of Targets

Pranay Sharma, Augustin Alexandru Saucan, Donald J. Bucci, Pramod K. Varshney

Research output: Chapter in Book/Entry/Poem › Conference contribution

4 Scopus citations

Abstract

We propose a scalable algorithm for cooperative self-localization and multi-target tracking. Mobile agents localize themselves, and track an unknown number of targets in the presence of data-association uncertainty. We accomplish this task by modeling the probabilistic relationship between agent and target measurements alongside their state estimates using a suitably designed factor graph, which is solved using loopy belief propagation. By coupling the self-localization and multi-target tracking approaches together, our approach is capable of leveraging the statistical correlation between agent and target state uncertainty in order to provide improved localization accuracy over time for both agents and targets. Simulation results show improvement in target and agent state estimation error, compared to the conventional approach of first localizing agents, and then using this information for target tracking.

Original language	English (US)
Title of host publication	Conference Record of the 52nd Asilomar Conference on Signals, Systems and Computers, ACSSC 2018
Editors	Michael B. Matthews
Publisher	IEEE Computer Society
Pages	1735-1739
Number of pages	5
ISBN (Electronic)	9781538692189
DOIs	https://doi.org/10.1109/ACSSC.2018.8645547
State	Published - Jul 2 2018
Externally published	Yes
Event	52nd Asilomar Conference on Signals, Systems and Computers, ACSSC 2018 - Pacific Grove, United States Duration: Oct 28 2018 → Oct 31 2018

Publication series

Name	Conference Record - Asilomar Conference on Signals, Systems and Computers
Volume	2018-October
ISSN (Print)	1058-6393

Conference

Conference	52nd Asilomar Conference on Signals, Systems and Computers, ACSSC 2018
Country/Territory	United States
City	Pacific Grove
Period	10/28/18 → 10/31/18

ASJC Scopus subject areas

Signal Processing
Computer Networks and Communications

Access to Document

10.1109/ACSSC.2018.8645547

Cite this

Sharma, P., Saucan, A. A., Bucci, D. J., & Varshney, P. K. (2018). On Self-Localization and Tracking with an Unknown Number of Targets. In M. B. Matthews (Ed.), Conference Record of the 52nd Asilomar Conference on Signals, Systems and Computers, ACSSC 2018 (pp. 1735-1739). Article 8645547 (Conference Record - Asilomar Conference on Signals, Systems and Computers; Vol. 2018-October). IEEE Computer Society. https://doi.org/10.1109/ACSSC.2018.8645547

On Self-Localization and Tracking with an Unknown Number of Targets. / Sharma, Pranay; Saucan, Augustin Alexandru; Bucci, Donald J. et al.
Conference Record of the 52nd Asilomar Conference on Signals, Systems and Computers, ACSSC 2018. ed. / Michael B. Matthews. IEEE Computer Society, 2018. p. 1735-1739 8645547 (Conference Record - Asilomar Conference on Signals, Systems and Computers; Vol. 2018-October).

Research output: Chapter in Book/Entry/Poem › Conference contribution

Sharma, P, Saucan, AA, Bucci, DJ & Varshney, PK 2018, On Self-Localization and Tracking with an Unknown Number of Targets. in MB Matthews (ed.), Conference Record of the 52nd Asilomar Conference on Signals, Systems and Computers, ACSSC 2018., 8645547, Conference Record - Asilomar Conference on Signals, Systems and Computers, vol. 2018-October, IEEE Computer Society, pp. 1735-1739, 52nd Asilomar Conference on Signals, Systems and Computers, ACSSC 2018, Pacific Grove, United States, 10/28/18. https://doi.org/10.1109/ACSSC.2018.8645547

Sharma P, Saucan AA, Bucci DJ, Varshney PK. On Self-Localization and Tracking with an Unknown Number of Targets. In Matthews MB, editor, Conference Record of the 52nd Asilomar Conference on Signals, Systems and Computers, ACSSC 2018. IEEE Computer Society. 2018. p. 1735-1739. 8645547. (Conference Record - Asilomar Conference on Signals, Systems and Computers). doi: 10.1109/ACSSC.2018.8645547

Sharma, Pranay ; Saucan, Augustin Alexandru ; Bucci, Donald J. et al. / On Self-Localization and Tracking with an Unknown Number of Targets. Conference Record of the 52nd Asilomar Conference on Signals, Systems and Computers, ACSSC 2018. editor / Michael B. Matthews. IEEE Computer Society, 2018. pp. 1735-1739 (Conference Record - Asilomar Conference on Signals, Systems and Computers).

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On Self-Localization and Tracking with an Unknown Number of Targets

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