Counting moving bodies using sparse sensor beams

Lawrence H. Erickson, Jingjin Yu, Yaonan Huang, Steven M. Lavalle

Research output: Contribution to journalArticlepeer-review


This paper examines the problem of determining the distribution of a number of indistinguishable moving bodies located in regions separated by sensor beams that can detect whether a body moves across them. We characterize the conditions under which an exact distribution of bodies can be determined, and compute bounds on the expected number of sensor observations required to determine this exact distribution for a certain movement model of the bodies.

Original languageEnglish (US)
Article number6519270
Pages (from-to)853-861
Number of pages9
JournalIEEE Transactions on Automation Science and Engineering
Issue number4
StatePublished - 2013


  • Filtering
  • robots
  • tracking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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