Resilience in multi-robot multi-target tracking with unknown number of targets through reconfiguration
نویسندگان
چکیده
منابع مشابه
Cooperative Multi-robot Target Tracking
Target tracking performance can be improved by using multiple robot trackers, but this requires a coordinated motion strategy among the robots. We propose an algorithm based on treating the densities of robots and targets as properties of the environment in which they are embedded. By suitably manipulating these densities a control law for each robot is proposed. The proposed algorithm has been...
متن کاملDecentralized and Cooperative Multi-Sensor Multi-Target Tracking With Asynchronous Bearing Measurements
Bearings only tracking is a challenging issue with many applications in military and commercial areas. In distributed multi-sensor multi-target bearings only tracking, sensors are far from each other, but are exchanging data using telecommunication equipment. In addition to the general benefits of distributed systems, this tracking system has another important advantage: if the sensors are suff...
متن کاملCooperative multi-robot control for target tracking with onboard sensing
We consider the cooperative control of a team of robots to estimate the position of a moving target using onboard sensing. In this setting, robots are required to estimate their positions using relative onboard sensing while concurrently tracking the target. Our probabilistic localization and control method takes into account the motion and sensing capabilities of the individual robots to minim...
متن کاملMulti-Bernoulli sensor-selection for multi-target tracking with unknown clutter and detection profiles
A new sensor-selection solution within a Multi-Bernoulli-based multi-target tracking framework is presented. The proposed method is especially designed for the general multi-target tracking case with no prior knowledge of the clutter distribution or the probability of detection, and uses a new task-driven objective function for this purpose. Step-by-step sequential Monte Carlo implementation of...
متن کاملMulti-Target Tracking Based on Multi-Bernoulli Filter with Amplitude for Unknown Clutter Rate
Knowledge of the clutter rate is of critical importance in multi-target Bayesian tracking. However, estimating the clutter rate is a difficult problem in practice. In this paper, an improved multi-Bernoulli filter based on random finite sets for multi-target Bayesian tracking accommodating non-linear dynamic and measurement models, as well as unknown clutter rate, is proposed for radar sensors....
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Control of Network Systems
سال: 2021
ISSN: 2325-5870,2372-2533
DOI: 10.1109/tcns.2021.3059794