Fair Multi-Target Tracking in Cooperative Multi-Robot systems

Author

Banfi, Jacopo ; Guzzi, Jerome ; Giusti, Alessandro ; Gambardella, Luca ; Di Caro, Gianni A.

Author_Institution

DEIB, Politec. di Milano, Milan, Italy

fYear

2015

fDate

26-30 May 2015

Firstpage

5411

Lastpage

5418

Abstract

Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) denotes a class of problems in which a set of autonomous mobile robots equipped with limited-range sensors are used to keep under observation a (possibly larger) set of mobile targets. Robots cooperatively plan their motion in order to maximize the time during which each target lies within the sensing range of at least one robot.

Keywords

Bayes methods; integer programming; linear programming; mobile robots; multi-robot systems; path planning; target tracking; Bayesian framework; CMOMMT; autonomous mobile robots; centralized implementation; cooperative multirobot observation-of-multiple moving targets; distributed implementation; empirical analysis; fair multitarget tracking; integer linear formulation; limited information sharing; limited- range sensors; mobile targets; motion planning; multihop communications; multiobjective optimization model; observation fairness features; probabilistic occupancy map; target motion pattern; Monitoring; Planning; Robot kinematics; Robot sensing systems; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2015 IEEE International Conference on

Conference_Location

Seattle, WA

Type

conf

DOI

10.1109/ICRA.2015.7139955

Filename

7139955