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A decentralized motion coordination strategy for dynamic target tracking

Chung, Timothy H. and Burdick, Joel W. and Murray, Richard M. (2006) A decentralized motion coordination strategy for dynamic target tracking. In: Proceedings 2006 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 2416-2422. ISBN 0-7803-9505-0 . https://resolver.caltech.edu/CaltechAUTHORS:20110203-083444872

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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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ROBOT.2006.1642064 DOIArticle
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2006 IEEE. Issue Date: 15-19 May 2006. Date of Current Version: 26 June 2006.
Record Number:CaltechAUTHORS:20110203-083444872
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20110203-083444872
Official Citation:Chung, T.H.; Burdick, J.W.; Murray, R.M.; , "A decentralized motion coordination strategy for dynamic target tracking," Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on , vol., no., pp.2416-2422, 15-19 May 2006 doi: 10.1109/ROBOT.2006.1642064 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1642064&isnumber=34383
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:21976
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:15 Feb 2011 00:14
Last Modified:03 Oct 2019 02:32

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