Distributed information-based guidance of multiple mobile sensors for urban target search View Full Text


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Article Info

DATE

2017-07-26

AUTHORS

Juan-Pablo Ramirez-Paredes, Emily A. Doucette, Jess W. Curtis, Nicholas R. Gans

ABSTRACT

We present a framework for distributed mobile sensor guidance to locate and track a target inside an urban environment. Our approach leverages the communications between robots when a link is available, but it also allows them to act independently. Each robot actively seeks the target using information maximization. The robots are assumed to be capable of communicating with their peers within some distance radius, and the sensor payload of each robot is a camera modeled to have target detection errors of types I and II. Our contributions include an optimal information fusion algorithm for discrete distributions which allows each agent to combine its local information with that of its neighbors, and a path planner that uses the fused estimate and a recent coverage result for information maximization to guide the agents. We include simulations and laboratory experiments involving multiple robots searching for a moving target within model cities of different sizes. More... »

PAGES

375-389

References to SciGraph publications

  • 2015-04-30. Active Control Strategies for Discovering and Localizing Devices with Range-Only Sensors in ALGORITHMIC FOUNDATIONS OF ROBOTICS XI
  • 2013-03-12. Robotic Urban Search and Rescue: A Survey from the Control Perspective in JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
  • 2003-09. The mutual affinity of random measures in PERIODICA MATHEMATICA HUNGARICA
  • 2015-05-19. Multi-robot Surveillance Through a Distributed Sensor Network in COOPERATIVE ROBOTS AND SENSOR NETWORKS 2015
  • 2017-07-27. Detecting, Localizing, and Tracking an Unknown Number of Moving Targets Using a Team of Mobile Robots in ROBOTICS RESEARCH
  • 2009. Simultaneous Coverage and Tracking (SCAT) of Moving Targets with Robot Networks in ALGORITHMIC FOUNDATION OF ROBOTICS VIII
  • 1959-12. A note on two problems in connexion with graphs in NUMERISCHE MATHEMATIK
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    URI

    http://scigraph.springernature.com/pub.10.1007/s10514-017-9658-5

    DOI

    http://dx.doi.org/10.1007/s10514-017-9658-5

    DIMENSIONS

    https://app.dimensions.ai/details/publication/pub.1090895102


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