A decentralized motion coordination strategy for dynamic target tracking

@article{Chung2006ADM,
  title={A decentralized motion coordination strategy for dynamic target tracking},
  author={Timothy H. Chung and Joel W. Burdick and Richard M. Murray},
  journal={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
  year={2006},
  pages={2416-2422}
}
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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