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Robust detection of moving objects from a mobile robot is required for safe outdoor navigation, but is not easily achievable since there are two motions involved: the motions of moving objects and the motion of the sensors used to detect the objects. We have experimented with a probabilistic approach for moving object detection from a mobile robot using a(More)
This paper addresses the problem of tracking multiple targets using a network of communicating robots and stationary sensors. We introduce a Region-based Approach which controls robot deployment at two levels. A coarse deployment controller distributes robots across regions using a topological map which maintains urgency estimates for each region, and a(More)
Autonomous mobile robots are constrained in their long-term functionality due to a limited on-board power supply. Typically, rechargeable batteries are utilized that may only provide a few hours of peak usage before recharging is necessary. Recharging requires a robot to be taken offline, and attached to a battery charger via human intervention. This is(More)
A mobile robot needs to perceive the motions of external objects to perform tasks successfully in a dynamic environment. We propose a set of algorithms for multiple motion tracking from a mobile robot equipped with a monocular camera and a laser rangefinder. The key challenges are 1. to compensate the ego-motion of the robot for external motion detection,(More)
This paper addresses the problem of tracking multiple targets using a network of communicating robots and stationary sensors. We introduce a region-based approach which controls robot deployment at two levels. A coarse deployment controller distributes robots across regions using a topological map and density estimates, and a target-following controller(More)
Autonomous mobile robots are being developed for numerous applications where long-term capabilities would be beneficial. However, most mobile robots have onboard power supplies in the form of batteries that last for a finite amount of time, in which case the robot becomes reliant on human intervention for extended usage. To achieve true long-term autonomy,(More)
We propose a generalized region-based approach to multi-target tracking, which is applicable to structured and unstructured environments. In this approach each robot constructs virtual regions based on the latest tracking information from other robots. Without pre-partitioned region information, each robot independently estimates the most urgent region that(More)
Target tracking performance can be improved by using multiple robot trackers, but this requires a coordinated motion strategy among the robots. We propose an algorithm based on treating the densities of robots and targets as properties of the environment in which they are embedded. By suitably manipulating these densities a control law for each robot is(More)
We study the problem of multiple target tracking using multiple mobile robots. Our approach is to divide the cooperative multi-target tracking problem into two sub-problems: target tracking using a single mobile robot and on-line motion strategy design for multi-robot coordination. For single robot-based tracking, we address two key challenges: how to(More)