Show simple item record

dc.creatorDames, P
dc.creatorKumar, V
dc.date.accessioned2021-02-03T20:03:52Z
dc.date.available2021-02-03T20:03:52Z
dc.date.issued2013-11-14
dc.identifier.issn1050-4729
dc.identifier.doihttp://dx.doi.org/10.34944/dspace/5911
dc.identifier.urihttp://hdl.handle.net/20.500.12613/5929
dc.description.abstractThis paper addresses the task of searching for an unknown number of static targets within a known obstacle map using a team of mobile robots equipped with noisy, limited field-of-view sensors. Such sensors may fail to detect a subset of the visible targets or return false positive detections. These measurement sets are used to localize the targets using the Probability Hypothesis Density, or PHD, filter. Robots communicate with each other on a local peer-to-peer basis and with a server or the cloud via access points, exchanging measurements and poses to update their belief about the targets and plan future actions. The server provides a mechanism to collect and synthesize information from all robots and to share the global, albeit time-delayed, belief state to robots near access points. We design a decentralized control scheme that exploits this communication architecture and the PHD representation of the belief state. Specifically, robots move to maximize mutual information between the target set and measurements, both self-collected and those available by accessing the server, balancing local exploration with sharing knowledge across the team. Furthermore, robots coordinate their actions with other robots exploring the same local region of the environment. © 2013 IEEE.
dc.format.extent1877-1883
dc.relation.haspartProceedings - IEEE International Conference on Robotics and Automation
dc.relation.isreferencedbyIEEE
dc.subjectcs.RO
dc.subjectcs.RO
dc.subjectcs.MA
dc.titleCooperative multi-target localization with noisy sensors
dc.typeArticle
dc.type.genreConference Proceeding
dc.relation.doi10.1109/ICRA.2013.6630825
dc.ada.noteFor Americans with Disabilities Act (ADA) accommodation, including help with reading this content, please contact scholarshare@temple.edu
dc.creator.orcidDames, Philip|0000-0002-7257-0075
dc.date.updated2021-02-03T20:03:49Z
refterms.dateFOA2021-02-03T20:03:53Z


Files in this item

Thumbnail
Name:
1302.3857v1.pdf
Size:
554.7Kb
Format:
PDF

This item appears in the following Collection(s)

Show simple item record