1. A method of tracking a target executed by one or more processors, comprising: sensing, by a sensor, a target in an area of interest, the target having a type and the type having at least one mobility constraint associated therewith; creating, by one or more processors, a set of particles to represent the sensed target; attributing, by the one or more processors, to each particle a functional intent, wherein a probability density of the particles in the set of particles correlates to a probability the density of possible intents that guide movements of the sensed target, and wherein the functional intent of a specific particle is a combination of behavioral goals of a person guiding the sensed target and the mobility constraint of the type of the sensed target; grouping, by the one or more processors, the set of particles based on attributed functional intents; defining at least one vehicle type having predetermined vehicle characteristics; identifying, by the one or more processors, objects within the area of interest with which the sensed target may interact; allocating, by the one or more processors, to each object an attraction-repulsion factor for each functional intent; correlating, by the one or more processors, functional intents, vehicle types, vehicle characteristics, and objects having attraction-repulsion factors with defined mobility constraints for the area of interest, to define a rule of behavior for each particle having a particular intent, wherein said rule of behavior defines a relationship between the functional intent of a particle and the objects within the area of interest; applying, by the one or more processors, said rule of behavior to each particle to predict a movement and geographic location for each particle representing the sensed target; and moving, by the one or more processors, each particle representing a predicted location of the target in accordance with the observed movements of the sensed target, said rule of behavior applied to each particle and geographic location for each particle.