| Volume 26 Issue 9 - Publication Date: 1 September 2007 |
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| Cooperative Observation
of Multiple Moving
Targets: an algorithm
and its formalization |
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| A. Kolling and S. Carpin School of Engineering
University of California
5200 North Lake Rd
Merced,CA, 95344 – USA |
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| This paper presents a distributed control algorithm for multi-target
surveillance by multiple robots. Robots equipped with sensors and
communication devices discover and track as many evasive targets as
possible in an open region. The algorithm utilizes information from
sensors, communication, and a mechanism to predict the minimum
time before a robot loses a target. Workload is shared locally between
robots using a greedy assignment of targets. Across long distances
robots cooperate through explicit communication. The approach is
coined Behavioral Cooperative Multi-robot Observation of Multiple
Moving Targets. A formal representation of the proposed algorithm
as well as proofs of performance guarantee are provided. Extensive
simulations confirm the theoretical results in practice. |
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