论文信息 - Multirobot cooperation for surveillance of multiple moving targets - a new behavioral approach

Multirobot cooperation for surveillance of multiple moving targets - a new behavioral approach

This paper presents a behavior-based solution to the problem of observing multiple mobile targets by multiple mobile robots. Robots sense targets using sensors and in addition exchange information about them with other robots. Workload is shared between different robots by requesting help when targets are escaping and supporting robots requesting such help. We provide a detailed description of the proposed solution, as well as significant simulation tests to outline its performance. The described approach outperforms formerly proposed solutions

Stefano Carpin | Andreas Kolling | A. Kolling | S. Carpin

[1] S. Shankar Sastry,et al. Probabilistic pursuit-evasion games: theory, implementation, and experimental evaluation , 2002, IEEE Trans. Robotics Autom..

[2] Pradeep K. Khosla,et al. Distributed surveillance and reconnaissance using multiple autonomous ATVs: CyberScout , 2002, IEEE Trans. Robotics Autom..

[3] Jie Lin,et al. Coordination of groups of mobile autonomous agents using nearest neighbor rules , 2003, IEEE Trans. Autom. Control..

[4] Lynne E. Parker,et al. Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets , 2002, Auton. Robots.

[5] Gaurav S. Sukhatme,et al. Tracking Targets Using Multiple Robots: The Effect of Environment Occlusion , 2002, Auton. Robots.

[6] Richard T. Vaughan,et al. The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems , 2003 .