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Proceedings Paper

Collaborative multi-target tracking using networked micro-robotic vehicles
Author(s): Subir Biswas; Sonny Gupta; Fan Yu; Tao Wu
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Paper Abstract

This paper presents a collaborative target tracking framework, in which distributed mechanisms are developed for tracking multiple mobile targets using a team of networked micro robotic vehicles. Applications of such a framework would include detection of multi-agent intrusion, network-assisted attack localization, and other collaborative search scenarios. The key idea of the developed framework is to design distributed algorithms that can be executed by tracking entities using a mobile ad hoc network. The paper comprises the following components. First, the software and hardware architectural detail of a Swarm Capable Autonomous Vehicle (SCAV) system that is used as the mobile platform in our target tracking application is presented. Second, the details of an indoor self-localization and Kalman filter based navigation system for the SCAV are presented. Third, a formal definition of the collaborative multi-target tracking problem and a heuristic based networked solution are developed. Finally, the performance of the proposed tracking framework is evaluated on a laboratory test-bed of a fleet of SCAV vehicles. A detailed system characterization in terms localization, navigation, and collaborative tracking performance is performed on the SCAV test-bed. In addition to valuable implementation insights about the localization, navigation, filtering, and ad hoc networking processes, a number of interesting conclusions about the overall tracking system are presented.

Paper Details

Date Published: 1 May 2007
PDF: 11 pages
Proc. SPIE 6578, Defense Transformation and Net-Centric Systems 2007, 657812 (1 May 2007); doi: 10.1117/12.717919
Show Author Affiliations
Subir Biswas, Michigan State Univ. (United States)
Sonny Gupta, Michigan State Univ. (United States)
Fan Yu, Michigan State Univ. (United States)
Tao Wu, Michigan State Univ. (United States)


Published in SPIE Proceedings Vol. 6578:
Defense Transformation and Net-Centric Systems 2007
Raja Suresh, Editor(s)

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