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Author Williams, R.K. ♦ Sukhatme, G.S.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2015
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Observability ♦ Target tracking ♦ Robot sensing systems ♦ Estimation
Abstract In this paper, we consider the problem of controlling a multi-robot team in order to track a mobile target with unknown dynamics. Our contribution in this context is a non-linear observability analysis of the target tracking network, which yields insights into the topological and actuation conditions necessary for the underlying state estimation problem. We demonstrate a metric of observability which allows us to determine robot inputs that maximize observability to improve team localization. Combining the observability metric with topological control then yields a robust target tracking solution. We close the paper with a simulation example which demonstrates the ability of our solution to cope with scenarios in which relative measurements poorly distinguish the target.
Description Author affiliation: Depts. of Electr. Eng. & Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA (Williams, R.K.; Sukhatme, G.S.)
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2015-05-26
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781479969234
Size (in Bytes) 864.21 kB
Page Count 7
Starting Page 1795
Ending Page 1801

Source: IEEE Xplore Digital Library