On the Performance of Multi-robot Target Tracking

  title={On the Performance of Multi-robot Target Tracking},
  author={Faraz M. Mirzaei and Anastasios I. Mourikis and Stergios I. Roumeliotis},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
In this paper, we study the accuracy of cooperative localization and target tracking (CLATT) in a team of mobile robots, and derive analytical upper bounds for the position uncertainty. The obtained bounds provide a description of the asymptotic positioning performance of the robots and the targets as a function of the sensor characteristics and the structure of the graph of relative position measurements. By employing an extended Kalman filter (EKF) formulation for data fusion, two key… CONTINUE READING
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