التفاصيل البيبلوغرافية
| العنوان: |
An Online Scalable Approach to Unified Multirobot Cooperative Localization and Object Tracking. |
| المؤلفون: |
Ahmad, Aamir1, Lawless, Guilherme2, Lima, Pedro2 |
| المصدر: |
IEEE Transactions on Robotics. Oct2017, Vol. 33 Issue 5, p1184-1199. 16p. |
| مصطلحات موضوعية: |
*MONTE Carlo method, SLAM (Robotics), OBJECT tracking (Computer vision), KALMAN filtering, LEAST squares, COMPUTER simulation |
| مستخلص: |
In this paper, we present a unified approach for multi-robot cooperative simultaneous localization and object tracking based on particle filters. Our approach is scalable with respect to the number of robots in the team. We introduce a method that reduces, from an exponential to a linear growth, the space and computation time requirements with respect to the number of robots in order to maintain a given level of accuracy in the full-state estimation. Our method requires no increase in the number of particles with respect to the number of robots. However, in our method, each particle represents a full-state hypothesis, leading to the linear dependency on the number of robots of both space and time complexity. The derivation of the algorithm implementing our approach from a standard particle filter algorithm and its complexity analysis are presented. Through an extensive set of simulation experiments on a large number of randomized datasets, we demonstrate the correctness and efficacy of our approach. Through real robot experiments on a standardized open dataset of a team of four soccer-playing robots tracking a ball, we evaluate our method's estimation accuracy with respect to the ground truth values. Through comparisons with other methods based on 1) nonlinear least squares minimization and 2) joint extended Kalman filter, we further highlight our method's advantages. Finally, we also present a robustness test for our approach by evaluating it under scenarios of communication and vision failure in teammate robots. [ABSTRACT FROM AUTHOR] |
|
Copyright of IEEE Transactions on Robotics is the property of IEEE and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) |
| قاعدة البيانات: |
Business Source Index |
