Cooperative multi-robot control for target tracking with onboard sensing
| Autor: | rg Müller, Karol Hausman, Gaurav S. Sukhatme, Abishek Hariharan, Nora Ayanian |
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| Rok vydání: | 2015 |
| Předmět: |
Flexibility (engineering)
Engineering Robotic sensing business.industry Applied Mathematics Mechanical Engineering Probabilistic logic Control engineering Mutual information Network topology Robot control Computer Science::Robotics Extended Kalman filter Artificial Intelligence Modeling and Simulation Robot Electrical and Electronic Engineering business Software |
| Zdroj: | The International Journal of Robotics Research. 34:1660-1677 |
| ISSN: | 1741-3176 0278-3649 |
| Popis: | 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 minimize the expected future uncertainty of the target position. Two measures of uncertainty are extensively evaluated and compared: mutual information and the trace of the extended Kalman filter covariance. Our approach reasons about multiple possible sensing topologies and incorporates an efficient topology switching technique to generate locally optimal controls in polynomial time complexity. Simulations illustrate the performance of our approach and prove its flexibility in finding suitable sensing topologies depending on the limited sensing capabilities of the robots and the movements of the target. Furthermore, we demonstrate the applicability of our method in various experiments with single and multiple quadrotor robots tracking a ground vehicle in an indoor environment. |
| Databáze: | OpenAIRE |
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