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このアイテムの引用には次の識別子を使用してください: http://hdl.handle.net/10119/9504

タイトル: Tracking Multiple Moving Targets with Swarms of Mobile Robots
著者: Lee, Geunho
Chong, Nak Young
Christensen, Henrik
キーワード: robot swarms
local interaction
triangle lattice
target tracking
proximity sensor
発行日: 2010-02-19
出版者: Springer
誌名: Intelligent Service Robotics
巻: 3
号: 2
開始ページ: 61
終了ページ: 72
DOI: 10.1007/s11370-010-0059-2
抄録: This paper presents a distributed approach to enabling mobile robot swarms to track multiple targets moving unpredictably. The proposed approach consists of two constituent algorithms: local interaction and target tracking. When the robots are faster than the targets, Lyapunov theory can be applied to show that the robots converge asymptotically to each vertex of the desired equilateral triangular configurations while tracking the targets. Toward practical implementation of the algorithms, it is important to realize the observation capability of individual robots in an inexpensive and efficient way. A new proximity sensor that we call dual rotating infrared (DRIr) sensor is developed to meet these requirements. Both our simulation and experimental results employing the proposed algorithms and DRIr sensors confirm that the proposed distributed multi-target tracking method for a swarm of robots is effective and easy to implement.
Rights: This is the author-created version of Springer, Geunho Lee, Nak Young Chong and Henrik Christensen, Intelligent Service Robotics, 3(2), 2010, 61-72. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s11370-010-0059-2
URI: http://hdl.handle.net/10119/9504
資料タイプ: author
出現コレクション:b10-1. 雑誌掲載論文 (Journal Articles)


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