A decentralized motion coordination strategy for dynamic target tracking

  title={A decentralized motion coordination strategy for dynamic target tracking},
  author={T. Chung and J. Burdick and R. Murray},
  journal={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
  • T. Chung, J. Burdick, R. Murray
  • Published 2006
  • Computer Science, Engineering
  • Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
  • This paper presents a decentralized motion planning algorithm for the distributed sensing of a noisy dynamical process by multiple cooperating mobile sensor agents. This problem is motivated by localization and tracking tasks of dynamic targets. Our gradient-descent method is based on a cost function that measures the overall quality of sensing. We also investigate the role of imperfect communication between sensor agents in this framework, and examine the trade-offs in performance between… CONTINUE READING
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