Nonlinear filtering in target tracking using cooperative mobile sensors
  Collaborative signal processing and sensor deployment have been among the most important research tasks in target tracking using networked sensors. In this paper, the mathematical model is formulated for single target tracking using mobile nonlinear scalar range sensors. Then a sensor deployment strategy is proposed for the mobile sensors and a nonlinear convergent filter is built to estimate the trajectory of the target. 
Jiangping Hu, Xiaoming Hu
math-ph math.DS math.MP nlin.AO