  Previous labeled random finite set filter developments use a motion model
that only accounts for survival and birth. While such a model provides the
means for a multi-object tracking filter such as the Generalized Labeled
Multi-Bernoulli (GLMB) filter to capture object births and deaths in a wide
variety of applications, it lacks the capability to capture spawned tracks and
their lineages. In this paper, we propose a new GLMB based filter that formally
incorporates spawning, in addition to birth. This formulation enables the joint
estimation of a spawned object's state and information regarding its lineage.
Simulations results demonstrate the efficacy of the proposed formulation.
