Distributed target tracking

A decentralized tracking technique of a target in clutter is discussed. The coordinator must reconstruct the trajectory of a moving object based on the return histories of N geographically distributed sensors. The coordinator can only access the (local) statistics produced by local processing of the sensors´ return histories, not the sensors´ returns themselves. The local processing models may be different from the coordinator´s models of the distributed observation dynamics as long as these local models meet algebraic constraints. To account for the uncertainties in the origin of the sensors´ returns, the probabilistic data association technique is used