Fig. 8

Tracking multiple objects; target trajectories and mobile sensor trajectories. Blue dashed curves and blue crossed curves correspond to the true target trajectories; red dashed curves represent the estimated track using our novel framework. Blue stars indicate the starting locations of the targets, while the red crosses represent the initial locations of some moving sensors. The black dashed curves show the trajectories of some of the moving sensors during the tracking process using the kinematic rules in Section 3.3. Violet colored curves correspond to estimated trajectories using immobile sensors, while the green star points to the position where the splitting of the targets takes place