Distributed multi-target tracking is a canonical task for multi-robot systems, encompassing applications from environmental monitoring to disaster response to surveillance. In many situations, the distribution of unknown objects in a search area is irregular, with objects are likely to distribute in clusters instead of evenly distributed. In this paper, we develop a novel distributed multi-robot multi-target tracking algorithm for effectively tracking clustered targets from noisy measurements. Our algorithm contains two major components. Firstly, both the instantaneous and cumulative target density are estimated, providing the best guess of current target states and long-term coarse distribution of clusters, respectively. Secondly, the power diagram is implemented in Lloyd’s algorithm to optimize task space assignment for each robot to trade-off between tracking detected targets in clusters and searching for potential targets outside clusters. We demonstrate the efficacy of our proposed method and show that our method outperforms of other candidates in tracking accuracy through a set of simulations.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Distributed Multi-robot Tracking of Unknown Clustered Targets with Noisy Measurements


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Bourgeois, Julien (Herausgeber:in) / Paik, Jamie (Herausgeber:in) / Piranda, Benoît (Herausgeber:in) / Werfel, Justin (Herausgeber:in) / Hauert, Sabine (Herausgeber:in) / Pierson, Alyssa (Herausgeber:in) / Hamann, Heiko (Herausgeber:in) / Lam, Tin Lun (Herausgeber:in) / Matsuno, Fumitoshi (Herausgeber:in) / Mehr, Negar (Herausgeber:in)

    Kongress:

    International Symposium on Distributed Autonomous Robotic Systems ; 2022 ; Montbéliard, France November 28, 2022 - November 30, 2022



    Erscheinungsdatum :

    01.02.2024


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Distributed Formation Centroid Tracking Control of Clustered Rotorcraft

    Sun, Yongbin / Zou, Yao / He, Xiuyu et al. | IEEE | 2023


    Distributed Output-Feedback Formation Tracking Control for Clustered Quadrotors

    Sun, Yongbin / Xia, Kewei / Zou, Yao et al. | IEEE | 2022


    Multiple maneuvering targets tracking with unknown clutter density using PHD

    Yuan, Changshun / Wang, Jun / Zhang, Yaotian et al. | British Library Online Contents | 2016


    Encirclement of Moving Targets Using Noisy Range and Bearing Measurements

    Jain, Puneet / Peterson, Cameron K. / Beard, Randal W. | AIAA | 2022