Distributed Multirobot Multitarget Tracking Using Heterogeneous Limited-Range Sensors
Utilizing heterogeneous mobile sensors to actively gather information improves adaptability and reliability in extended environments. This article presents a cooperative multirobot multitarget search and tracking framework aimed at enhancing the efficiency of the heterogeneous sensor network, and co...
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| Vydáno v: | IEEE transactions on robotics Ročník 41; s. 1755 - 1772 |
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| Jazyk: | angličtina |
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2025
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| ISSN: | 1552-3098, 1941-0468 |
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| Abstract | Utilizing heterogeneous mobile sensors to actively gather information improves adaptability and reliability in extended environments. This article presents a cooperative multirobot multitarget search and tracking framework aimed at enhancing the efficiency of the heterogeneous sensor network, and consequently, improving the overall target tracking accuracy. The concept of normalized unused sensing capacity is introduced to quantify the information a sensor is currently gathering relative to its theoretical maximum. This measurement can be computed using entirely local information and is applicable to various sensor models, distinguishing it from previous literature on the subject. It is then utilized to develop a heuristics distributed coverage control strategy for a heterogeneous sensor network, adaptively balancing the workload based on each sensor's current unused capacity. The algorithm is validated through a series of robot operating system (ROS) and MATLAB simulations, demonstrating superior results compared to standard approaches that do not account for heterogeneity or current usage rates. |
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| AbstractList | Utilizing heterogeneous mobile sensors to actively gather information improves adaptability and reliability in extended environments. This article presents a cooperative multirobot multitarget search and tracking framework aimed at enhancing the efficiency of the heterogeneous sensor network, and consequently, improving the overall target tracking accuracy. The concept of normalized unused sensing capacity is introduced to quantify the information a sensor is currently gathering relative to its theoretical maximum. This measurement can be computed using entirely local information and is applicable to various sensor models, distinguishing it from previous literature on the subject. It is then utilized to develop a heuristics distributed coverage control strategy for a heterogeneous sensor network, adaptively balancing the workload based on each sensor's current unused capacity. The algorithm is validated through a series of robot operating system (ROS) and MATLAB simulations, demonstrating superior results compared to standard approaches that do not account for heterogeneity or current usage rates. |
| Author | Chen, Jun Abugurain, Mohammed Dames, Philip Park, Shinkyu |
| Author_xml | – sequence: 1 givenname: Jun orcidid: 0000-0002-1817-8101 surname: Chen fullname: Chen, Jun email: jun.chen@nnu.edu.cn organization: School of Electrical and Automation Engineering, Nanjing Normal University, Nanjing, China – sequence: 2 givenname: Mohammed orcidid: 0000-0003-4731-8705 surname: Abugurain fullname: Abugurain, Mohammed email: mohammed.abugurain@kaust.edu.sa organization: Computer, Electrical, and Mathematical Science and Engineering Division, King Abdullah University of Science and Technology, Thuwal, Saudi Arabia – sequence: 3 givenname: Philip orcidid: 0000-0002-7257-0075 surname: Dames fullname: Dames, Philip email: pdames@temple.edu organization: Department of Mechanical Engineering, Temple University, Philadelphia, PA, USA – sequence: 4 givenname: Shinkyu orcidid: 0000-0002-8643-404X surname: Park fullname: Park, Shinkyu email: shinkyu.park@kaust.edu.sa organization: Computer, Electrical, and Mathematical Science and Engineering Division, King Abdullah University of Science and Technology, Thuwal, Saudi Arabia |
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| SubjectTerms | Aerospace electronics Capacitive sensors Distributed robot systems multirobot systems networked robots Partitioning algorithms Planning reactive and sensor-based planning Robot sensing systems Robots Sensors State estimation Target tracking |
| Title | Distributed Multirobot Multitarget Tracking Using Heterogeneous Limited-Range Sensors |
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