Multi-Robot Sensor Fusion Target Tracking with Observation Constraints

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00353590" target="_blank" >RIV/68407700:21230/21:00353590 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ACCESS.2021.3070180" target="_blank" >https://doi.org/10.1109/ACCESS.2021.3070180</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ACCESS.2021.3070180" target="_blank" >10.1109/ACCESS.2021.3070180</a>

Result language
angličtina
Original language name
Multi-Robot Sensor Fusion Target Tracking with Observation Constraints
Original language description
In Mobile Robotics, visual tracking is an extremely important sub-problem. Some solutions found to reduce the problems arising from partial and total occlusion are the use of multiple robots. In this work, we propose a three-dimensional space target tracking based on a constrained multi-robot visual data fusion on the occurrence of partial and total occlusion. To validate our approach we first implemented a non-cooperative visual tracking where only the data from a single robot is used. Then, a cooperative visual tracking was tested, where the data from a team of robots is fused using a particle filter. To evaluate both approaches, a visual tracking environment with partial and total occlusions was created where the tracking was performed by a team of robots. The result of the experiment shows that the non-cooperative approach presented a lower computational cost than the cooperative approach but the inferred trajectory was impaired by the occlusions, a fact that did not occur in the cooperative approach due to the data fusion.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
20204 - Robotics and automatic control

Project
<a href="/en/project/GA20-10280S" target="_blank" >GA20-10280S: Reliable sensing-driven compact groups of micro aerial robots with adaptive shapes</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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