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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/9504

Title: Tracking Multiple Moving Targets with Swarms of Mobile Robots
Authors: Lee, Geunho
Chong, Nak Young
Christensen, Henrik
Keywords: robot swarms
local interaction
triangle lattice
target tracking
proximity sensor
Issue Date: 2010-02-19
Publisher: Springer
Magazine name: Intelligent Service Robotics
Volume: 3
Number: 2
Start page: 61
End page: 72
DOI: 10.1007/s11370-010-0059-2
Abstract: 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
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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