Method of decentralized collaborative target searching and target tracking

A method of decentralized collaborative target searching, target tracking, or both, the method comprising:

• initializing, using a computer system, a probability distribution over a probabilistic search area with an a priori probability distribution of target locations;
• transmitting, by the computer system, the probability distribution of target locations to a plurality of vehicles;
• causing, by the computer system, a plurality of sensors on the plurality of vehicles to capture sensor data relating to locations of a target;
• updating, by the computer system, the a priori probability distribution of target locations based on the captured sensor data or based on data observations outside of the plurality of vehicles, or both, to provide an updated probability distribution of target locations;
• determining, by the computer system, optimal trajectories for the plurality of vehicles using the updated probability distribution of target locations and using an ergodic principle to define optimality, wherein the determining of optimal trajectories is based on each vehicle of the plurality of vehicles calculating its own optimal trajectory to enable decentralized calculations and providing results of the decentralized calculations to the computer system;
• detecting or tracking, or both, the target based on the determining of the optimal trajectories;
• and
• storing a result of the detecting or tracking on a storage device or transmitting the result to a requesting source.