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Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation

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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.date.accessioned2015-12-28T17:02:41Z
dc.date.available2015-12-28T17:02:41Z
dc.date.issued2015
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.identifier.doi10.1109/ICRA.2015.7139676pt_PT
dc.identifier.urihttp://hdl.handle.net/10400.22/7275
dc.language.isoengpt_PT
dc.publisherIEEEpt_PT
dc.relation.ispartofseriesICRA;2015
dc.relation.publisherversionhttp://ieeexplore.ieee.org/document/7139676/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
dc.typejournal article
dspace.entity.typePublication
oaire.citation.conferencePlaceSeattle, WApt_PT
oaire.citation.endPage3455pt_PT
oaire.citation.startPage3449pt_PT
oaire.citation.title2015 IEEE International Conference on Robotics and Automation (ICRA)pt_PT
person.familyNameSilva
person.givenNameEduardo
person.identifier.ciencia-idC517-23DA-B09F
person.identifier.orcid0000-0001-7166-3459
person.identifier.ridM-7929-2014
person.identifier.scopus-author-id6507130721
rcaap.rightsopenAccesspt_PT
rcaap.typearticlept_PT
relation.isAuthorOfPublicationd0912771-16c3-4f41-a936-79a714e984fb
relation.isAuthorOfPublication.latestForDiscoveryd0912771-16c3-4f41-a936-79a714e984fb

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