Title :
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
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;
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
DOI :
10.1109/ICRA.2015.7139955
