We introduce a framework and methodology of cooperative simultaneous localization and tracking (CoSLAT) in decentralized mobile agent networks. CoSLAT provides a consistent combination of cooperative self-localization (CSL) and distributed target tracking (DTT). Multiple mobile targets and mobile agents are tracked using pairwise measurements between agents and targets and between agents. We pr...

Consensus tracking problems for multiple mechanical systems are considered in this paper, where information communications are limited between individuals and the desired trajectory is available to only a subset of the mechanical systems. A distributed tracking algorithm based on computed torque approach is proposed in the fixed interaction topology case, in which a robust feedback term is deve...

We solve the formation-tracking control problem for mobile robots via linear control, under the assumption that each agent communicates only with one “leader” robot and with one follower. We assume that the system is forcecontrolled (hence we use the dynamic model) as opposed to velocity-controlled (in the kinematic-model case). As in the classical tracking control problem for nonholonomic syst...

multiple people detection and tracking is a challenging task in real-world crowded scenes. in this paper, we have presented an online multiple people tracking-by-detection approach with a single camera. we have detected objects with deformable part models and a visual background extractor. in the tracking phase we have used a combination of support vector machine (svm) person-specific classifie...

In this paper, decentralized feedback control strategies are derived for min-max time consensus tracking of multi-agent systems with bounded inputs that are communicating over directed graphs. Each agent is a linear time invariant system with distinct and rational eigenvalues. The graph contains a directed spanning tree rooted at an agent which generates the reference trajectory for the other a...

The problem of decentralized consensus control of a network of heterogeneous nonlinear systems is formulated as an optimal tracking problem and a solution is proposed using an approximate dynamic programming based neurocontroller. The neurocontroller training comprises an initial offline training phase and an online re-optimization phase to account for the fact that the reference signal subject...

Abstract In this paper, a survey on distributed control applications for multi Unmanned Aerial Vehicles (UAVs) systems is proposed. The focus consensus-based control, and both rotary-wing fixed-wing UAVs are considered. On one side, the latest experimental configurations implementation of formation flight analysed compared multirotor UAVs. other hand, frameworks taking into account mobility per...