Decentralized target tracking based on multi-robot cooperative triangulation

A. Dias, J. Capitan, L. Merino, J. Almeida, P. Lima, E. Silva
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
Target tracking with bearing-only sensors is a challenging problem when the target moves dynamically in complex scenarios. Besides the partial observability of such sensors, they have limited field of views, occlusions can occur, etc. In those cases, cooperative approaches with multiple tracking robots are interesting, but the different sources of uncertain information need to be considered appropriately in order to achieve better estimates. Even though there exist probabilistic filters that
more » ... estimate the position of a target dealing with uncertainties, bearing-only measurements bring usually additional problems with initialization and data association. In this paper, we propose a multi-robot triangulation method with a dynamic baseline that can triangulate bearing-only measurements in a probabilistic manner to produce 3D observations. This method is combined with a decentralized stochastic filter and used to tackle those initialization and data association issues. The approach is validated with simulations and field experiments where a team of aerial and ground robots with cameras needs to track a dynamic target. are the Jacobian matrices from W P P P i and W P P P j , respectively. Therefore, with the uncertainties Σ Σ Σ P P P i and Σ Σ Σ P P P j , each camera contribution can be weighted accordingly in the line described by the perpendicular vector W d d d ⊥ :
doi:10.1109/icra.2015.7139676 dblp:conf/icra/DiasCMALS15 fatcat:ii6gmm4lh5azrom2ret3ebhjfm