Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/7275
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dc.contributor.authorDias, André-
dc.contributor.authorCapitan, J.-
dc.contributor.authorMerino, L.-
dc.contributor.authorAlmeida, José-
dc.contributor.authorLima, Pedro-
dc.contributor.authorSilva, Eduardo-
dc.description.abstractTarget tracking with bearing-only sensors is a challenging problem when the target moves dynamically in complex scenarios. Besides the partial observability of such sensors, they have limited field of views, occlusions can occur, etc. In those cases, cooperative approaches with multiple tracking robots are interesting, but the different sources of uncertain information need to be considered appropriately in order to achieve better estimates. Even though there exist probabilistic filters that can estimate the position of a target dealing with incertainties, bearing-only measurements bring usually additional problems with initialization and data association. In this paper, we propose a multi-robot triangulation method with a dynamic baseline that can triangulate bearing-only measurements in a probabilistic manner to produce 3D observations. This method is combined with a decentralized stochastic filter and used to tackle those initialization and data association issues. The approach is validated with simulations and field experiments where a team of aerial and ground robots with cameras track a dynamic target.pt_PT
dc.subjectDecentralised controlpt_PT
dc.subjectImage sensorspt_PT
dc.subjectMobile robotspt_PT
dc.subjectMulti-robot systemspt_PT
dc.subjectRobot visionpt_PT
dc.subjectObject trackingpt_PT
dc.subjectSensor fusionpt_PT
dc.titleDecentralized Target Tracking based on Multi-Robot Cooperative Triangulationpt_PT
degois.publication.locationSeattle, WApt_PT
degois.publication.title2015 IEEE International Conference on Robotics and Automation (ICRA)pt_PT
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