https://sites.temple.edu/pdames/files/2016/07/DamesTokekarKumarISRR2015.pdf
t = fzr 1;t;zr 2;t;:::;zr m;tg to targets that it detects within the field of view (FoV) of its sensor. The number of measurements, mt, varies over time due to false negative and false positive detections and the mo-tion of the robots and the targets.