TAILIEUCHUNG - cooperative robotics for multi target observation 2010

Tham khảo sách 'cooperative robotics for multi target observation 2010', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Cooperative Robotics for Multi-Target Observation Lynne E. Parker Center for Engineering Systems Advanced Research CESAR Oak Ridge National Laboratory . Box 2008 Oak Ridge TN 37831-6355 Abstract All important issue that arises in the automation of many security surveillance and reconnaissance tasks is that of observing or monitoring the movements of targets navigating in a bonnded area of interest. A key research issue in these problems is that of sensor placement determining where sensors should be located to maintain the tar-gets in view. In complex applications involving limited-range sensors the use of multiple sensors dynamically moving over time is required. In this article we investigate the use of a cooperative team of autonomous sensor-based robots for the observation of multiple moving tar-gets a problem that we term CM0MMTỊ. We focus primarily on developing the distributed control strategies that allow the robot team to attempt to maximize the collective time dm-ing which each target is being observed by at least one robot team member hl the area of interest. Our initial efforts on this problem address the aspects of distributed control in robot teams with equivalent movement capabilities working in an uncluttered bounded area. This article first formalizes the problem and discusses related work. We then present a distributed approximate approach to solving this problem called A-CMOMMT that combines low-level multirobot control with higher-level control. The low-level control is described hl terms of force fields emanating from the targets and the robots. The higher level control is presented in onr ALLIANCE formalism 16 17 which provides mechanisms for fault tolerant cooperative control and allows robot team members to adjust their low-level actions based upon the actions of their teammates. We then present the results of the ongoing implementation of onr approach both in simulation and on physical robots. To our knowledge this is the first article .

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