I. Introduction
In recent years, the advancements in robotics and effective wireless communication have provided us with the opportunity to deploy the mobile sensor networks (MSN) for various applications [1]–[4], such as environment monitoring[5] and power management [6]. These networks are composed of a large amount of mobile devices, which have computation, communication, and sensing abilities. Compared with static sensor networks, for target tracking which is a critical problem in the field of MSN, mobile sensors are expected to provide equivalent or even better tracking performance with more flexibility at lower cost[7].