A receding horizon control of a cooperative multi target tracking system

In this paper the problem of cooperative tracking of multiple targets for multi-agent systems is investigated. Defining problem of target tracking as gathering maximum rewards associated with the targets, an optimization-based algorithm is presented. A cooperative receding horizon controller for reaching moving targets is proposed. Agents are controlled by adjusting their headings toward the moving targets. A notable advantage of the proposed approach is the estimations of target´s motion and planning the agent´s heading based on them. Simulation results are provided to verify the efficiency of the proposed method.