[6)

b. Izzo,

L,

and Paura,

(1989)

Comments on "Optimal detection and performance of

distributed sensor systems."

IEEE Transoctinm on Aerospace and Electronic Systems,

25,

[7)

1 (Jan. 1989), 113-114.

Tsitsiklis, J.

where the numbers of measurements and targets were

success of the

3 to 20 and 2 to 6, respectively. The

NPDA in their examples was credited

JPDAF by

NPDA.

in the ranges of

to the accurate emulation of all the properties of the

Poor and J. B. Thomas (Eds.), Advances in

2, Signal Detection.
Greenwich, CT: JAI Press, to be published.
In H. V.

Statistical Signal Processing,

VlSWanathan, R., Thomopoulos, S., and Thmuluri, R. (1987)

[8)

the constant coefficients of the energy function for

the Hopfield neural networks [4], these coefficients in
the

NPDA were

selected essentially by trial-and-error

However, with the chosen coefficients in

Sequential decision in multiple sensor fusion.

[1].

In Proceedin of

architecture of the neural network in

the Johns Hopkins COIIforence

Information Science and Systms, Mar. 1987, 124.

[9]

the

Since there are no strict guidelines for choosing

Decentralized detection.

R.,

VlSW8nathan,

Thomopoulos, S., and Thmuluri, R. (1988)

Optimal serial distributed decision fusion.

IEEE Transactions on Aerarpace Electronic Systems, 24

(July

1988), 366-375.

[1], the
[1] degenerates

into individual columns with identical connections and

the input currents throughout the neural network are

almost of the same amplitude. Furthermore, the neural

network in

has a strong tendency to converge to the

[1]

1/(m + 1) with the given initial

[3], a least-squares approach

Vfs which are close to

A Comprehensive A nalysis of "Neural Solution to the
Multitarget Tracking Data Association Problem"

values for the VJs. In

was developed to optimize the last two coefficients

of the energy function. The authors pointed out that

this local optimization of the two coefficients is quite

sensitive to

n,

the number of targets. They chose the

two coefficients by averaging their values for the

n = 4,
A corehenslv" analysis reveals several drawbacks of the
neural network probabilistic data association (NPDA) algorithm,
wbich is an application of the Hopfleld neural network to the data
assoctation problem for muItItarget tracking In c1u1ter.

and

n=6

the energy function in

the similarity between

the discussion in this correspondence is focused on

energy function in

INTRODUCTION
Sengupta and lItis

of the

[1] formulated the

computation

posteriori probabilities for the joint

probabilistic data association filter

(JPDAF) [2]

as

a constrained minimization p roblem. This technique

based on the

[3]

use

of neural networks was also extended

to apply to maneuvering targets. The

probability f3; (for

measurement

[1]

By comparison w ith the

traveling salesman problem (TSP), they proposed a

Hopfield neural network

[4]

Similar discussions on the

[5].

In Section II, the Hopfield neural network used in

is briefly reviewed and some comments are made

energy function in

[1].

In Section III, some criticisms

on the implementation of the neural network in

[1]

given. Conclusions are summarized in Scction IV.

II.

probability that none of the received measurements

t.

[1].

are documented in detail in

on the assumptions which were used to set up the

originated from target t and f3b is t he

originated from target

[3]

are

a posteriori

is the probability that

j f 0)

[3] are slightly different from

[1]. Because of
the energy functions in [1, 3],

the ones in the energy function of

the energy function in

I.

n = 2,

cases. As a result, the coefficients of

REVIEW OF ENERGY FUNCTION IN NPDA AND

COMMENTS
Suppose there are

targets and

The energy function used in

[1]

measurements.

is reproduced below.

to approximately compute

the f3js and called this neural network probabilistic

data association

(NPDA).

In fact, f3j is approximated

by the output voltage VJ of a neuron in an

1) x n

array of neurons, where

of measurements and

(m +

is the number

is the number of targets.

Sengupta and lItis claimed that the performance of

the

NPDA was

close to that of the

JPDAF in

situations

ManUSCript received January 11, 1991; revised February 3, 1992.

IEEE Leg No. T-AES/29I1/OZUiO.
This work was sponsored by SDIO/IST and managed by the Office of
Naval Research under Contract NOOOl4-86-K-0542

0018-92511931$3.00

260

1993 I EEE

In

(1), Vf is the output voltage of a neuron in an (m

1) x n array of neurons and is the approximation to

the

a posteriori

probability f3; in the joint probabilistic

data association filter

(JPDAF) [2].

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRON IC SYSTEMS

This

VOL. 29, NO.1

posteriori

JANUARY 1993