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Title: Distributed Multi-Target Search and Tracking Using a Coordinated Team of Ground and Aerial Robots
Presented at the Workshop on Heterogeneous Multi-Robot Task Allocation and Coordination. The authors recently developed a distributed algorithm to enable a team of homogeneous robots to search for and track an unknown and time-varying number of dynamic targets. This algorithm combined a distributed version of the PHD filter (for multi-target tracking) with Lloyd’s algorithm to drive the motion of the robots. In this paper we extend this previous work to allow a heterogeneous team of groundand aerial robots to perform the search and tracking tasks in a coordinated manner. Both types of robots are equipped with sensors that have a finite field of view and which may receive both false positive and false negative detections. Theaerial robots may vary the size of their sensor field of view (FoV) by changing elevation. This increase in the FoV coincides with a decrease in the accuracy and reliability of the sensor. The ground robots maintain the target tracking information while the aerial robots provide additional sensor coverage. We develop two new distributed algorithms to provide filter updates and to make control decisions in this heterogeneous team. Both algorithms only require robots to communicate with nearby robots and use minimal bandwidth.We demonstrate the efficacy of our approach through a series of simulated experiments which show that the heterogeneous teams are able to achieve more accurate tracking in less time than our previous work.  more » « less
Award ID(s):
1830419
NSF-PAR ID:
10194714
Author(s) / Creator(s):
;
Date Published:
Journal Name:
Robotics science and systems
ISSN:
2330-7668
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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