Information-based sensor management for multitarget tracking
Chris Kreucher, Keith D. Kastella, Alfred O. Hero · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2003
We present in this paper an information based method for sensor management that is based on tasking a sensor to make the measurement that maximizes the expected gain in information. The method is applied to the problem of tracking multiple targets. The underlying tracking methodology is a multiple target tracking scheme based on recursive estimation of a Joint Multitarget Probability Density (JMPD), which is implemented using particle filtering methods. This Bayesian method for tracking multiple targets allows nonlinear, non-Gaussian target motion and measurement-to-state coupling. The sensor management scheme is predicated on maximizing the expected Renyi Information Divergence between the current JMPD and the JMPD after a measurement has been made. The Renyi Information Divergence, a generalization of the Kullback-Leibler Distance, provides a way to measure the dissimilarity between two densities. We use the Renyi Information Divergence to evaluate the expected information gain for each of the possible measurement decisions, and select the measurement that maximizes the expected information gain for each sample.