  This work considers the problem of passively monitoring multiple moving
targets with a single unmanned aerial vehicle (UAV) agent equipped with a
direction-finding radar. This is in general a challenging problem due to the
unobservability of the target states, and the highly non-linear measurement
process. In addition to these challenges, in this work we also consider: a)
environments with multiple obstacles where the targets need to be tracked as
they manoeuvre through the obstacles, and b) multiple false-alarm measurements
caused by the cluttered environment. To address these challenges we first
design a model predictive guidance controller which is used to plan
hypothetical target trajectories over a rolling finite planning horizon. We
then formulate a joint estimation and control problem where the trajectory of
the UAV agent is optimized to achieve optimal multi-target monitoring.
