Joint Multitarget Tracking And Dynamic Network Localization In The Underwater Domain

This paper addresses the problem of multitarget tracking using a network of mobile sensors with unknown positions. In contrast to commonly-used approaches which split the sensor localization and target tracking into two different subproblems, we propose a holistic approach for joint localization and tracking. The theory of graphical models is used to describe the statistical relationship between sensors, targets, and measurements. To jointly infer the states of sensors and targets, we use the statistical processing of belief propagation.