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Multi-Robot Cooperative Object Tracking Based on Particle Filters


Conference Paper


This article presents a cooperative approach for tracking a moving object by a team of mobile robots equipped with sensors, in a highly dynamic environment. The tracker’s core is a particle filter, modified to handle, within a single unified framework, the problem of complete or partial occlusion for some of the involved mobile sensors, as well as inconsistent estimates in the global frame among sensors, due to observation errors and/or self-localization uncertainty. We present results supporting our approach by applying it to a team of real soccer robots tracking a soccer ball.

Author(s): Ahmad, A and Lima, P
Journal: Robotics and Autonomous Systems
Volume: 61
Number (issue): 10
Pages: 1084--1093
Year: 2013
Month: October

Department(s): Perceiving Systems
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1016/j.robot.2012.12.008
Event Name: 5th European Conference on Mobile Robots (ECMR 2011)
Event Place: Örebro, Sweden

URL: http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2011/ECMR-2011-Ahmad.pdf


  title = {Multi-Robot Cooperative Object Tracking Based on Particle Filters},
  author = {Ahmad, A and Lima, P},
  journal = {Robotics and Autonomous Systems},
  volume = {61},
  number = {10},
  pages = {1084--1093},
  month = oct,
  year = {2013},
  url = {http://www.kyb.tuebingen.mpg.defileadmin/user_upload/files/publications/2011/ECMR-2011-Ahmad.pdf},
  month_numeric = {10}