000101175 001__ 101175 000101175 005__ 20231127095532.0 000101175 0247_ $$2doi$$a10.1109/IROS40897.2019.8968197 000101175 0248_ $$2sideral$$a122924 000101175 037__ $$aART-2019-122924 000101175 041__ $$aeng 000101175 100__ $$0(orcid)0000-0002-5176-3767$$aMontijano, E.$$uUniversidad de Zaragoza 000101175 245__ $$aDistributed Dynamic Sensor Assignment of Multiple Mobile Targets 000101175 260__ $$c2019 000101175 5060_ $$aAccess copy available to the general public$$fUnrestricted 000101175 5203_ $$aDistributed 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. 000101175 536__ $$9info:eu-repo/grantAgreement/ES/DGA-FSE/T45-17R$$9info:eu-repo/grantAgreement/ES/MINECO-AEI-FEDER/DPI2016-76676-R$$9info:eu-repo/grantAgreement/ES/MINECO-FEDER/PGC2018-098817-A-I00$$9info:eu-repo/grantAgreement/ES/UZ/CUD2018-03 000101175 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000101175 592__ $$a0.897$$b2019 000101175 593__ $$aComputer Science Applications$$c2019 000101175 593__ $$aSoftware$$c2019 000101175 593__ $$aControl and Systems Engineering$$c2019 000101175 593__ $$aComputer Vision and Pattern Recognition$$c2019 000101175 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000101175 700__ $$0(orcid)0000-0001-7853-3622$$aTardioli, D. 000101175 700__ $$aMosteo, A.R. 000101175 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000101175 773__ $$g(2019), 4921-4926$$pProc. IEEE/RSJ Int. Conf. Intell. Rob. Syst.$$tProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems$$x2153-0858 000101175 8564_ $$s2239928$$uhttps://zaguan.unizar.es/record/101175/files/texto_completo.pdf$$yPostprint 000101175 8564_ $$s3306577$$uhttps://zaguan.unizar.es/record/101175/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000101175 909CO $$ooai:zaguan.unizar.es:101175$$particulos$$pdriver 000101175 951__ $$a2023-11-27-09:47:15 000101175 980__ $$aARTICLE