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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 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)
In this paper, we report on the integration challenges of the various component technologies developed towards the establishment of a framework for deploying an adaptive system of heterogeneous robots for urban surveillance. In our integrated experiment and demonstration, aerial robots generate maps that are used to design navigation controllers and plan(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)
— We propose a generalized region-based approach to multi-target tracking, which is applicable to structured and un-structured 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(More)
We study the target tracking problem using multiple , environment-embedded, stationary sensors and mobile robots. An architecture for robot motion coordination is presented which exploits a shared topolog-ical map of the environment. The stationary sensors and robots maintain region-based density estimates which are used to guide the robots to parts of the(More)
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