“…Each vehicle can be equipped with various sensors, such as odometric sensors, cameras and non-imaging sensors such as sonar, radar and thermal signature sensors. These vehicles can be considered as mobile sensors while the ensemble of the autonomous vehicles constitutes a mobile sensor network (Rigatos, 2010a), (Olfati-Saber, 2005), (Olfati-Saber, 2007), (Elston & Frew, 2007). At each time instant each vehicle can obtain a measurement of the target's cartesian coordinates and orientation.…”