Tracking and Coordination of Multiple Agents Using Sensor Networks: System Design, Algorithms and Experiments

@article{Oh2007TrackingAC,
  title={Tracking and Coordination of Multiple Agents Using Sensor Networks: System Design, Algorithms and Experiments},
  author={Songhwai Oh and Luca Schenato and Phoebus Chen and S. Shankar Sastry},
  journal={Proceedings of the IEEE},
  year={2007},
  volume={95},
  pages={234-254}
}
This paper considers the problem of pursuit evasion games (PEGs), where the objective of a group of pursuers is to chase and capture a group of evaders in minimum time with the aid of a sensor network. The main challenge in developing a real-time control system using sensor networks is the inconsistency in sensor measurements due to packet loss, communication delay, and false detections. We address this challenge by developing a real-time hierarchical control system, named LochNess, which… CONTINUE READING
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