Distributed multirobot sensing and tracking: a behavior-based approach

Lynne E. Parker

doi:10.1117/12.220950

15 September 1995 Distributed multirobot sensing and tracking: a behavior-based approach

Lynne E. Parker

Proceedings Volume 2589, Sensor Fusion and Networked Robotics VIII; (1995) https://doi.org/10.1117/12.220950
Event: Photonics East '95, 1995, Philadelphia, PA, United States

Abstract

An important issue that arises in the automation of many large-scale surveillance and reconnaissance tasks is that of tracking the movements of (or maintaining passive contact with) objects navigating in a bounded area of interest. Oftentimes in these problems, the area to be monitored will move over time or will not permit fixed sensors, thus requiring a team of mobile sensors--or robots--to monitor the area collectively. In these situations, the robots must not only have mechanisms for determining how to track objects and how to fuse information from neighboring robots, but they must also have distributed control strategies for ensuring that the entire area of interest is continually covered to the greatest extent possible. This paper focuses on the distributed control issue by describing a proposed decentralized control mechanism that allows a team of robots to collectively track and monitor objects in an uncluttered area of interest. The approach is based upon an extension to the ALLIANCE behavior-based architecture that generalizes from the domain of loosely-coupled, independent applications to the domain of strongly cooperative applications, in which the action selection of a robot is dependent upon the actions selected by its teammates. We conclude the paper be describing our ongoing implementation of the proposed approach on a team of four mobile robots.

Citation Download Citation

Lynne E. Parker "Distributed multirobot sensing and tracking: a behavior-based approach", Proc. SPIE 2589, Sensor Fusion and Networked Robotics VIII, (15 September 1995); https://doi.org/10.1117/12.220950

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available