Distributed Dynamic Sensor Assignment of Multiple Mobile Targets

Montijano, E. (Universidad de Zaragoza) ; Tardioli, D. ; Mosteo, A.R.

Resumen: Distributed scalable algorithms are sought in many multi-robot contexts. In this work we address the dynamic optimal linear assignment problem, exemplified as a target tracking mission in which mobile robots visually track mobile targets in a one-to-one capacity. We adapt our previous work on formation achievement by means of a distributed simplex variant, which results in a conceptually simple consensus solution, asynchronous in nature and requiring only local broadcast communications. This approach seamlessly tackles dynamic changes in both costs and network topology. Improvements designed to accelerate the global convergence in the face of dynamically evolving task rewards are described and evaluated with simulations that highlight the efficiency and scalability of the proposal. Experiments with a team of three Turtlebot robots are finally shown to validate the applicability of the algorithm.

Idioma: Inglés

DOI: 10.1109/IROS40897.2019.8968197

Año: 2019

Publicado en: Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems (2019), 4921-4926
ISSN: 2153-0858

Factor impacto SCIMAGO: 0.897 - Computer Science Applications - Software - Control and Systems Engineering - Computer Vision and Pattern Recognition

Financiación: info:eu-repo/grantAgreement/ES/DGA-FSE/T45-17R
Financiación: info:eu-repo/grantAgreement/ES/MINECO-AEI-FEDER/DPI2016-76676-R
Financiación: info:eu-repo/grantAgreement/ES/MINECO-FEDER/PGC2018-098817-A-I00
Financiación: info:eu-repo/grantAgreement/ES/UZ/CUD2018-03

Tipo y forma: Artículo (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)