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Multi-robot tracking of a moving object using directional sensors
KTH, Tidigare Institutioner, Signaler, sensorer och system.
KTH, Tidigare Institutioner, Signaler, sensorer och system.
KTH, Tidigare Institutioner, Signaler, sensorer och system.ORCID-id: 0000-0001-9940-5929
KTH, Tidigare Institutioner, Matematik.ORCID-id: 0000-0003-0177-1993
2004 (engelsk)Inngår i: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, s. 1103-1108Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

The problem of estimating and tracking the motion of a moving target by a team of mobile robots is studied in this paper. Each robot is assumed to have a directional sensor with limited range, thus more than one robot (sensor) is needed for solving the problem. A sensor fusion scheme based on inter-robot communication is proposed in order to obtain accurate real-time information of the target's position and motion. Accordingly a hierarchical control scheme is applied, in which a consecutive set of desired formations is planned through a discrete model and low-level continuous-time controls are executed to track the resulting references. The algorithm is illustrated through simulations and on an experimental platform.

sted, utgiver, år, opplag, sider
2004. s. 1103-1108
Serie
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ISSN 1050-4729
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-26584ISI: 000221794800178Scopus ID: 2-s2.0-3042632055ISBN: 0-7803-8232-3 (tryckt)OAI: oai:DiVA.org:kth-26584DiVA, id: diva2:378231
Konferanse
IEEE International Conference on Robotics and Automation New Orleans, LA, APR 26-MAY 01, 2004
Merknad
QC 20101215Tilgjengelig fra: 2010-12-15 Laget: 2010-11-25 Sist oppdatert: 2012-02-01bibliografisk kontrollert

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