Cooperative Tracking with Mobile Robots and Networked Embedded Sensors

We study the target tracking problem using multiple, environment-embedded, stationary sensors and mobile robots. The stationary sensors and robots maintain region-based density estimates which are used to guide the robots to parts of the environment where unobserved targets may be present. Experiments in simulation show that the region-based approach works better than a ‘naive’ target following approach when the number of targets in the environment is high. We present real-robot experiments which support the results from the simulation study.