MTT, IEEE conf. paper from GaTech

"Multiple Target Tracking with Symmetric Measurement Equations using Unscented Kalman and Particle Filters"
This is an IEEE conference paper (link). It uses SME and UKF and shows that UKF breaks when using sum of products and can be solved with sum of powers. It also shows the advantage of partical filter. Another link and slide.
@article{Leven04Multiple,
Journal = {Proceedings of the Thirty-Sixth Southeastern Symposium on System Theory},
Year = {Mar. 2004},
Title = {Multiple Target Tracking with Symmetric Measurement Equations using Unscented Kalman and Particle Filters},
Number = {},
Pages = {195-199},
Author = {W.F. Leven and A.D. Lanterman},
Volume = {}}