Multi-robot Coordination for Elusive Target Interception Aided by Sensor Networks

This paper presents a multi-robot coordination architecture for a robot-sensor network to track and intercept targets. For a target tracking and interception task, the sensor network continuously tracks the targets and dynamically selects robots to intercept the target. The robots are navigated thro...

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Bibliographic Details
Published in2006 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 5540 - 5545
Main Authors Xiaoning Shan, Jindong Tan
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2006
Subjects
Decision making
Electronic design automation and methodology
Intelligent robots
Intelligent sensors
Navigation
Partitioning algorithms
Robot kinematics
Robot sensing systems
Sensor systems
Target tracking
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Summary:This paper presents a multi-robot coordination architecture for a robot-sensor network to track and intercept targets. For a target tracking and interception task, the sensor network continuously tracks the targets and dynamically selects robots to intercept the target. The robots are navigated through the sensor network. The main contribution of this paper lies on providing a scalable, power saving robot selection algorithm for the sensor networks. The robot selection algorithm is addressed based on partitioning among sensor nodes. Through partitioning, the sensor nodes are grouped so that they know which robot to choose if it is the closest to the target. The partitioning is updated with respect to the movement of robots. The proposed algorithms are proven to be effective and verified by simulations. Some analytic investigation on the communication overhead in the sensor networks is also provided
ISBN:9781424402588
1424402581
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2006.282269