Multiple mobile target localization and pursuit based on discrete measurements of the energy intensity field

The application of mobile robotic sensor networks has been widely studied in target localization and pursuit. Conventional target tracking methods always require an explicit system observation model of the target positions, which, however, would fail if such model is unobtainable. In this paper, a distributed target localization and pursuit scheme is proposed based on discrete measurements of the target energy intensity field. The accurate observation model of such field is unknown except some critical bounds. By the proposed method, all robots are categorized into two groups: the leaders, responsible for the target pursuit, and the followers, responsible for the formation and connectivity maintenance. The proposed scheme is demonstrated by simulation of multiple target localization and pursuit.