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Proceedings Paper

Distributed multirobot sensing and tracking: a behavior-based approach
Author(s): Lynne E. Parker
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Paper 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.

Paper Details

Date Published: 15 September 1995
PDF: 12 pages
Proc. SPIE 2589, Sensor Fusion and Networked Robotics VIII, (15 September 1995); doi: 10.1117/12.220950
Show Author Affiliations
Lynne E. Parker, Oak Ridge National Lab. (United States)


Published in SPIE Proceedings Vol. 2589:
Sensor Fusion and Networked Robotics VIII
Paul S. Schenker; Gerard T. McKee, Editor(s)

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