Collective perception for tracking people with a robot swarm
| Autor: | Kegeleirs, Miquel, Ramos, David Garzón, Herranz, Guillermo Legarda, Gharbi, Ilyes, Szpirer, Jeanne, Debeir, Olivier, Hasselmann, Ken, Garattoni, Lorenzo, Francesca, Gianpiero, Birattari, Mauro |
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| Rok vydání: | 2024 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | Swarm perception refers to the ability of a robot swarm to utilize the perception capabilities of each individual robot, forming a collective understanding of the environment. Their distributed nature enables robot swarms to continuously monitor dynamic environments by maintaining a constant presence throughout the space.In this study, we present a preliminary experiment on the collective tracking of people using a robot swarm. The experiment was conducted in simulation across four different office environments, with swarms of varying sizes. The robots were provided with images sampled from a dataset of real-world office environment pictures.We measured the time distribution required for a robot to detect a person changing location and to propagate this information to increasing fractions of the swarm. The results indicate that robot swarms show significant promise in monitoring dynamic environments. Comment: Presented at ICRA@40, Rotterdam |
| Databáze: | arXiv |
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