Absrmcf-We propose a generalized region-based approach to multi-target tracking, which is applicable lo structured and nnstruclud environments. In this approach each robot constructs virlual regions based on the latest tracking information from other robots. Without pre-partitioned region ininrmation, each robot independently estimates lhe most urgent region that needs to be visited. The idea is for robots to coarsely estimate where the targets are present, and to navigate there. A multi-robot system lo track moving objects outdoon has been designed using this approach in order lo validate lhe idea. The perlormance of the individual motion tracken and the cooperative tracking behaviors is evaluated through experiments wilh diIIerent robot bases (a helicopter, a Segway RMP, and a Pioneer) and in simulation. Experimental results indicate that robots are able to distribute themselves appropriately in response to target movemenl
To improve the coverage efficiency, a virtual region based on the latest tracking information from the neighboring robots will be constructed REF .
A generalized region-based approach for multi-target tracking in outdoor environments
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
Engineering Computer Science