Target tracking with distributed robotic macrosensors

We have developed a novel control mechanism that deploys a large number of inexpensive robots as a distributed remote sensing array, called a distributed robotic macrosensor (DRM). This DRM has the capability to track targets of both a discrete (e.g., a vehicle) and diffuse (e.g., a chemical plume) nature. Attack resistance is an inherent property of the DRM as well. A relatively simple virtual spring mesh abstraction is used to provide fully distributed control that is both flexible and fault-tolerant. We describe the algorithms for spring mesh formation and control, discrete target tracking, and diffuse target tracking. We also present simulation results demonstrating the efficacy and robustness of DRMs