101175 20231127095532.0 doi 10.1109/IROS40897.2019.8968197 sideral 122924 ART-2019-122924 eng Montijano, E. Universidad de Zaragoza (orcid)0000-0002-5176-3767 Distributed Dynamic Sensor Assignment of Multiple Mobile Targets 2019 Access copy available to the general public Unrestricted 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. info:eu-repo/grantAgreement/ES/DGA-FSE/T45-17R info:eu-repo/grantAgreement/ES/MINECO-AEI-FEDER/DPI2016-76676-R info:eu-repo/grantAgreement/ES/MINECO-FEDER/PGC2018-098817-A-I00 info:eu-repo/grantAgreement/ES/UZ/CUD2018-03 info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 0.897 2019 Computer Science Applications 2019 Software 2019 Control and Systems Engineering 2019 Computer Vision and Pattern Recognition 2019 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Tardioli, D. (orcid)0000-0001-7853-3622 Mosteo, A.R. 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. (2019), 4921-4926 Proc. IEEE/RSJ Int. Conf. Intell. Rob. Syst. Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems 2153-0858 2239928 http://zaguan.unizar.es/record/101175/files/texto_completo.pdf Postprint 3306577 http://zaguan.unizar.es/record/101175/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:101175 articulos driver 2023-11-27-09:47:15 ARTICLE