TY - GEN
T1 - Minimalist multiple target tracking using directional sensor beams
AU - Bobadilla, Leonardo
AU - Sanchez, Oscar
AU - Czarnowski, Justin
AU - LaValle, Steven M.
PY - 2011
Y1 - 2011
N2 - We consider the problem of determining the paths of multiple, unpredictable moving bodies in a cluttered environment using weak detection sensors that provide simple crossing information. Each sensor is a beam that, when broken, provides the direction of the crossing (one bit) and nothing else. Using a simple network of beams, the individual paths are separated and reconstructed as well as possible, up to combinatorial information about the route taken. In this setup, simple filtering algorithms are introduced, and a low-cost hardware implementation that demonstrates the practicality of the approach is shown. The results may apply in settings such as verification of multirobot system execution, surveillance and security, and unobtrusive behavioral monitoring for wildlife and the elderly.
AB - We consider the problem of determining the paths of multiple, unpredictable moving bodies in a cluttered environment using weak detection sensors that provide simple crossing information. Each sensor is a beam that, when broken, provides the direction of the crossing (one bit) and nothing else. Using a simple network of beams, the individual paths are separated and reconstructed as well as possible, up to combinatorial information about the route taken. In this setup, simple filtering algorithms are introduced, and a low-cost hardware implementation that demonstrates the practicality of the approach is shown. The results may apply in settings such as verification of multirobot system execution, surveillance and security, and unobtrusive behavioral monitoring for wildlife and the elderly.
UR - http://www.scopus.com/inward/record.url?scp=84455205955&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048867
DO - 10.1109/IROS.2011.6048867
M3 - Libros de Investigación
AN - SCOPUS:84455205955
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3101
EP - 3107
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -