Target tracking with bearing-only sensors is a challenging problem when the target moves dynamically in complex scenarios. Besides the partial observability of such sensors, they have limited field of views, occlusions can occur, etc. In those cases, cooperative approaches with multiple tracking robots are interesting, but the different sources of uncertain information need to be considered appropriately in order to achieve better estimates. Even though there exist probabilistic filters that can estimate the position of a target dealing with incertainties, bearing-only measurements bring usually additional problems with initialization and data association. In this paper, we propose a multi-robot triangulation method with a dynamic baseline that can triangulate bearing-only measurements in a probabilistic manner to produce 3D observations. This method is combined with a decentralized stochastic filter and used to tackle those initialization and data association issues. The approach is validated with simulations and field experiments where a team of aerial and ground robots with cameras track a dynamic target.


    Access

    Download


    Export, share and cite



    Title :

    Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation


    Contributors:
    Dias, André (author) / Capitan, J. (author) / Merino, L. (author) / Almeida, José (author) / Lima, Pedro (author) / Silva, Eduardo (author)

    Publication date :

    2015-01-01


    Remarks:

    doi:10.1109/ICRA.2015.7139676



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Decentralized optimal control of multiple heterogeneous UAVs in cooperative target tracking

    Yuanquan, W. / Rui, Z. / Wenman, W. et al. | British Library Online Contents | 2010


    Dynamic target assignment method based on multi-agent decentralized cooperative auction

    Mo, L. / Zongji, C. | British Library Online Contents | 2007


    Multi-reference Decentralized Cooperative Satellite Attitude Control for Ground-Target Staring

    Lian, Yijun / Meng, Yunhe / Zheng, Wei | Springer Verlag | 2022


    Decentralized Multi Passive Sensor System for 3D Target Tracking

    Naidu, V.P.S. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2008