DocumentCode :
2343290
Title :
A graph theoretic approach to optimal target tracking for mobile robot teams
Author :
Derenick, Jason C. ; Spletzer, John R. ; Hsieh, M. Ani
Author_Institution :
Lehigh Univ., Bethlehem
fYear :
2007
fDate :
Oct. 29 2007-Nov. 2 2007
Firstpage :
3422
Lastpage :
3428
Abstract :
In this paper, we present an optimization framework for target tracking with mobile robot teams. The target tracking problem is modeled as a generic semidefinite program (SDP). When paired with an appropriate objective function, the solution to the resulting problem instance yields an optimal robot configuration for target tracking at each time-step, while guaranteeing target coverage (each target is tracked by at least one robot) and maintaining network connectivity. Our methodology is based on the graph theoretic result where the second smallest eigenvalue of the interconnection graph Laplacian matrix is a measure for the connectivity of the graph. This formulation enables us to model agent-target coverage and inter-agent communication constraints as linear-matrix inequalities. We also show that when the communication constraints can be relaxed, the resulting problem can be reposed as a second-order cone program (SOCP) which can be solved significantly more efficiently than its SDP counterpart. Simulation results for a team of robots tracking multiple targets are presented.
Keywords :
Laplace equations; eigenvalues and eigenfunctions; graph theory; linear matrix inequalities; mobile robots; multi-robot systems; optimisation; target tracking; agent-target coverage; eigenvalue; generic semidefinite program; graph connectivity; graph theoretic approach; inter-agent communication constraints; interconnection graph Laplacian matrix; linear-matrix inequalities; mobile robot teams; objective function; optimal target tracking; optimization framework; second-order cone program; Collaborative work; Communication system control; Eigenvalues and eigenfunctions; Laplace equations; Mobile communication; Mobile robots; Robot kinematics; Robot sensing systems; Surveillance; Target tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
Type :
conf
DOI :
10.1109/IROS.2007.4399574
Filename :
4399574
Link To Document :
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