Minimalist multiple target tracking using directional sensor beams

Leonardo Bobadilla, Oscar Sanchez, Justin Czarnowski, Steven M. LaValle

Resultado de la investigación: Libro / Capitulo del libro / InformeLibros de Investigaciónrevisión exhaustiva

14 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtítulo de la publicación alojadaCelebrating 50 Years of Robotics
Páginas3101-3107
Número de páginas7
DOI
EstadoPublicada - 2011
Publicado de forma externa
Evento2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, Estados Unidos
Duración: 25 sept. 201130 sept. 2011

Serie de la publicación

NombreIEEE International Conference on Intelligent Robots and Systems

Conferencia

Conferencia2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
País/TerritorioEstados Unidos
CiudadSan Francisco, CA
Período25/09/1130/09/11

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