Title :
On the Performance of Multi-robot Target Tracking
Author :
Mirzaei, Faraz M. ; Mourikis, Anastasios I. ; Roumeliotis, Stergios I.
Author_Institution :
Dept. of Comput. Sci. & Eng., Minnesota Univ., Minneapolis, MN
Abstract :
In this paper, we study the accuracy of cooperative localization and target tracking (CLATT) in a team of mobile robots, and derive analytical upper bounds for the position uncertainty. The obtained bounds provide a description of the asymptotic positioning performance of the robots and the targets as a function of the sensor characteristics and the structure of the graph of relative position measurements. By employing an extended Kalman filter (EKF) formulation for data fusion, two key asymptotic results are derived. The first provides the guaranteed worst-case positioning accuracy, whereas the second determines an upper bound on the expected covariance of the estimates. We investigate the effects of jointly estimating the targets´ and the robots´ position, and demonstrate that it results in better accuracy for the robots´ position estimates. The theoretical results are confirmed both in simulation and experimentally.
Keywords :
Kalman filters; SLAM (robots); graph theory; mobile robots; multi-robot systems; position measurement; sensor fusion; target tracking; asymptotic positioning; cooperative localization; data fusion; extended Kalman filter; mobile robots; multirobot target tracking; position measurement; position uncertainty; Mobile robots; Performance analysis; Position measurement; Robot sensing systems; Robotics and automation; Sensor phenomena and characterization; State estimation; Target tracking; Upper bound; Velocity measurement;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.364011