@misc{W2150440166,
  author = {Thomas Fortmann and Yaakov Bar‐Shalom and Molly M. Scheffe},
  title = {Sonar tracking of multiple targets using joint probabilistic data association},
  year = {1983},
  howpublished = {IEEE Journal of Oceanic Engineering},
  doi = {https://doi.org/10.1109/joe.1983.1145560}
}