Abstract-This paper presents a decentralized motion planning algorithm for the distributed sensing of a noisy dynamical process by multiple cooperating mobile sensor agents. This problem is motivated by localization and tracking tasks of dynamic targets. Our gradient-descent method is based on a cost function that measures the overall quality of sensing. We also investigate the role of imperfect communication between sensor agents in this framework, and examine the trade-offs in performance between sensing and communication. Simulations illustrate the basic characteristics of the algorithms.
In REF , the authors develop a decentralized motion coordination algorithm for tracking groups of dynamic targets.
A decentralized motion coordination strategy for dynamic target tracking
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
Engineering Computer Science