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Multi-robot tracking of a moving object using directional sensors
KTH, Superseded Departments, Signals, Sensors and Systems.
KTH, Superseded Departments, Signals, Sensors and Systems.
KTH, Superseded Departments, Signals, Sensors and Systems.ORCID iD: 0000-0001-9940-5929
KTH, Superseded Departments, Mathematics.ORCID iD: 0000-0003-0177-1993
2004 (English)In: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, 1103-1108 p.Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
2004. 1103-1108 p.
Series
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ISSN 1050-4729
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-26584ISI: 000221794800178Scopus ID: 2-s2.0-3042632055ISBN: 0-7803-8232-3 (print)OAI: oai:DiVA.org:kth-26584DiVA: diva2:378231
Conference
IEEE International Conference on Robotics and Automation New Orleans, LA, APR 26-MAY 01, 2004
Note
QC 20101215Available from: 2010-12-15 Created: 2010-11-25 Last updated: 2012-02-01Bibliographically approved

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Scopus

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Johansson, Karl HenrikHu, Xiaoming

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