Joint Online Route Planning and Resource Optimization for Multitarget Tracking in Airborne Radar Systems

Multi-UAV Collaborative Trajectory Optimization for Asynchronous 3-D Passive Multitarget Tracking

“…Since the arrival time of measurements from different targets w.r.t. each sensor is random, existing researches [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24], [25], [26] cannot be applied to the 3-D CTO problem in the passive MTT context. We introduce the fusion time interval for time alignment and implement CTO in each fusion time instant.…”

“…To tackle this challenge, several TO models and corresponding solution algorithms are proposed for target localization/tracking in [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24], [25], [26]. Tzoreff and Weiss [7] discuss online and offline TO problems for a single UAV in the presence of time of arrival (TOA) measurements, subject to speed and no-fly zone constraints.…”

“…Hernandez [16] addresses an unconstrained TO problem for AOA sensors mounted on multiple UAV platforms and proposes a quadrant search method that iteratively restricts the search to the most promising quadrant. In [17], [18], [19], [20], several joint TO and resource allocation problems are investigated to improve tracking accuracy, which is solved by the cyclic minimization-based methods and genetic algorithm (GA). A CTO problem is considered in [21] to track a moving emitter using RSS sensors, which is solved by the model predictive method.…”

“…For the same purpose, a heuristic planner is proposed in [23] to guide the waypoints of multi-UAV while avoiding no-fly zones. However, collision and obstacle avoidance is not fully investigated in [16], [17], [18], [19], [20], [21], [22], [23]. The TO problem is formulated in a partially observable Markov decision process framework in [24], where the goal is to improve tracking performance while achieving threat and collision avoidance.…”

“…Most of the previous works [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24], [25] focus on 2-D TO. On the one hand, the 2-D TO ignores the possibility of exploiting the altitude dimension to improve tracking performance.…”