Conference proceeding
Active target tracking with self-triggered communications
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings, p2117
01 Jan 2017
Abstract
Conference Title: 2017 IEEE International Conference on Robotics and Automation (ICRA) Conference Start Date: 2017, May 29 Conference End Date: 2017, June 3 Conference Location: Singapore, Singapore We study the problem of reducing the amount of communication in a distributed target tracking problem. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as to best track a target moving in the interior of the environment. The robots are capable of measuring distances to the target. Decentralized control strategies have been proposed in the past that guarantee that the robots asymptotically converge to the optimal formation. However, existing methods require that the robots exchange information with their neighbors at all time steps. Instead, we focus on reducing the amount of communication among robots. We propose a self-triggered communication strategy that decides when a particular robot should seek up-to-date information from its neighbors and when it is safe to operate with possibly outdated information from the neighbor. We prove that this strategy converges to an optimal formation. We compare the two approaches (constant communication and self-triggered communication) through simulations of tracking stationary and mobile targets.
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Details
- Title
- Active target tracking with self-triggered communications
- Creators
- Lifeng Zhou - Virginia TechPratap Tokekar - Virginia Tech
- Publication Details
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings, p2117
- Publisher
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- Electrical and Computer Engineering
- Identifiers
- 991021945880904721