9. The computer readable storage medium of claim 1 , wherein a weight w j for a j th candidate target is based upon a minimal required speed s j =max[s 1 ,s 2 ], where s 1 is the speed-of-advance for the candidate target to travel from a point P 1 to a point P that is subject to both obstacle avoidance and status transition time constraints, where point P 1 is the “just before target history location” for the j th candidate target and where point P is a target location provided by the sensor data, and s 2 is the speed-of-advance for the candidate target to travel from the point P to a point P 2 that is subject to both obstacle avoidance and status transition time constraints, where point P 2 is the “just after target location” for the j th candidate target.
9. The computer readable storage medium of claim 1 , wherein a weight w j for a j th candidate target is based upon a minimal required speed s j =max[s 1 ,s 2 ], where s 1 is the speed-of-advance for the candidate target to travel from a point P 1 to a point P that is subject to both obstacle avoidance and status transition time constraints, where point P 1 is the “just before target history location” for the j th candidate target and where point P is a target location provided by the sensor data, and s 2 is the speed-of-advance for the candidate target to travel from the point P to a point P 2 that is subject to both obstacle avoidance and status transition time constraints, where point P 2 is the “just after target location” for the j th candidate target. 15. The computer readable storage medium of claim 9 , wherein the speed-of-advance s 1 is estimated as s 1 = d 1 min Δ ⁢ ⁢ t 1 and the speed-of-advance s 2 is estimated as s 2 = d 2 min Δ ⁢ ⁢ t 2 , where d 1 min is the minimum obstacle-avoidance distance between P 1 and P, and d 2 min is the minimum obstacle-avoidance distance between P and P 2 , and where Δt 1 =max[1,T−T 1 −c(S 1 ,S)] and Δt 2 =max[1,T 2 −T−c(S,S 2 )].