Resilience in Multirobot Multitarget Tracking With Unknown Number of Targets Through Reconfiguration

We address the problem of maintaining resource availability in a networked multirobot team performing distributed tracking an unknown number targets bounded environment. Robots are equipped with sensing and computational resources, enabling them to cooperatively track set using probability hypothesis density (PHD) filter. use trace robot's sensor measurement noise covariance matrix quantify its quality. While executing task, if robot experiences quality degradation, team's communication network is reconfigured such that faulty may share information other robots improve target-tracking ability without enforcing large change active links. A central system monitor executes reconfiguration computations. consider two different PHD fusion methods propose four mixed-integer semi-definite programming (MISDP) formulations (two for each method) accomplish our objective. All MISDP validated simulation.