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This paper considers the problem of automatically coordinating multiple platforms to explore an unknown environment. A newly developed method for this problem consists of deterministically placing locales within the region and then using the Probabilistic Multi-Hypothesis Tracker (PMHT) to associate these locales with the platforms at specific times. The method uses an integer number of locales at...
Unlike other tracking algorithms the probabilistic multi-hypothesis tracker (PMHT) assumes that the true source of each measurement is an independent realisation of a random process. Given knowledge of the prior probability of this assignment variable, data association is performed independently for each measurement. When the assignment prior is unknown, it can be estimated provided that it is either...
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