異種限界距離センサを用いた分散マルチロボット・マルチターゲット追跡
Distributed Multi-Robot Multi-Target Tracking Using Heterogeneous Limited-Range Sensors
異種センサネットワークの未使用容量を正規化して評価し、分散カバレッジ制御で負荷を適応的に分散することで、複数ロボットによる複数ターゲット追跡精度を向上させる手法を提案した。
著者: Jun Chen, Mohammed Abugurain, Philip Dames, Shinkyu Park
分類: cs.RO
原文アブストラクト
This paper presents a cooperative multi-robot multi-target tracking framework aimed at enhancing the efficiency of the heterogeneous sensor network and, consequently, improving 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 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 ROS and MATLAB simulations, demonstrating superior results compared to standard approaches that do not account for heterogeneity or current usage rates.
