Conference paper
Multi-robot Target Tracking with Sensing and Communication Danger Zones
Distributed Autonomous Robotic Systems, v 34, pp 600-615
01 Jan 2026
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and dangerous environments. Traditional approaches often focus on the performance of tracking accuracy with no modeling and assumption of the environments, neglecting potential environmental hazards which result in system failures in real-world deployments. To address this challenge, we investigate multi-robot target tracking in the adversarial environment considering sensing and communication attacks with uncertainty. We design specific strategies to avoid different danger zones and propose a multi-agent tracking framework under the perilous environment. We approximate the probabilistic constraints and formulate practical optimization strategies to address computational challenges efficiently. We evaluate the performance of our proposed methods in simulations to demonstrate the ability of robots to adjust their risk-aware behaviors under different levels of environmental uncertainty and risk confidence. The proposed method is further validated via real-world robot experiments where a team of drones successfully track dynamic ground robots while being risk-aware of the sensing and/or communication danger zones.
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Details
- Title
- Multi-robot Target Tracking with Sensing and Communication Danger Zones
- Creators
- Jiazhen Liu - University of PennsylvaniaPeihan Li - Drexel University, Electrical and Computer EngineeringYuwei Wu - University of PennsylvaniaGaurav S. Sukhatme - University of Southern CaliforniaVijay Kumar - University of PennsylvaniaLifeng Zhou - Drexel University, Electrical and Computer Engineering
- Publication Details
- Distributed Autonomous Robotic Systems, v 34, pp 600-615
- Conference
- 17th International Symposium on Distributed Autonomous Robotic Systems (DARS 2024), 17th (New York City, New York, United States, 27 Oct 2024–30 Oct 2024)
- Series
- Springer Proceedings in Advanced Robotics; 34
- Publisher
- Springer Nature
- Number of pages
- 16
- Resource Type
- Conference paper
- Language
- English
- Academic Unit
- Electrical and Computer Engineering
- Web of Science ID
- WOS:001748418000040
- Scopus ID
- 2-s2.0-105021953797
- Other Identifier
- 9783032045843; 3032045843; 991022189269504721
UN Sustainable Development Goals (SDGs)
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Source: SDGs in the Output
InCites Highlights
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- Collaboration types
- Domestic collaboration
- Web of Science research areas
- Automation & Control Systems
- Engineering, Electrical & Electronic
- Robotics