Distributed multi-robot sensing and tracking: a behavior-based approach

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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 ... continued below

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12 p.

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Parker, L.E. December 31, 1995.

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Description

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 by describing our ongoing implementation of the proposed approach on a team of four mobile robots.

Physical Description

12 p.

Notes

INIS; OSTI as DE96005546

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  • Phototonics East `95, Philadelphia, PA (United States), 22-26 Oct 1995

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  • Other: DE96005546
  • Report No.: CONF-9510189--8
  • Grant Number: AC05-84OR21400
  • Office of Scientific & Technical Information Report Number: 206651
  • Archival Resource Key: ark:/67531/metadc669610

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • December 31, 1995

Added to The UNT Digital Library

  • June 29, 2015, 9:42 p.m.

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  • Jan. 19, 2016, 12:45 p.m.

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Parker, L.E. Distributed multi-robot sensing and tracking: a behavior-based approach, article, December 31, 1995; Tennessee. (digital.library.unt.edu/ark:/67531/metadc669610/: accessed January 20, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.