Related papers: Decentralized Multi-target Tracking in Urban Envir…
Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…
The process of association and tracking of sensor detections is a key element in providing situational awareness. When the targets in the scenario are dense and exhibit high maneuverability, Multi-Target Tracking (MTT) becomes a challenging…
Wireless mobile sensor networks (WMSNs) are groups of mobile sensing agents with multi-modal sensing capabilities that communicate over wireless networks. WMSNs have more flexibility in terms of deployment and exploration abilities over…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…
Multi-Camera Multi-Target Tracking (MCMT) is a computer vision technique that involves tracking multiple targets simultaneously across multiple cameras. MCMT in urban traffic visual analysis faces great challenges due to the complex and…
Multi-object tracking (MOT) is the problem of tracking the state of an unknown and time-varying number of objects using noisy measurements, with important applications such as autonomous driving, tracking animal behavior, defense systems,…
Multi-robot patrolling represents a fundamental problem for many monitoring and surveillance applications and has gained significant interest in recent years. In patrolling, mobile robots repeatedly travel through an environment, capture…
In decentralized multi-robot navigation, ensuring safe and efficient movement with limited environmental awareness remains a challenge. While robots traditionally navigate based on local observations, this approach falters in complex…
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires team-wide connectivity and a carefully designed communication…
Technological advancements in miniaturization and wireless communications are yielding more affordable and versatile sensors and, in turn, more applications in which a network of sensors can be actively managed to best support overall…
Swarm robotics is a study of simple robots that exhibit complex behaviour only by interacting locally with other robots and their environment. The control in swarm robotics is mainly distributed whereas centralised control is widely used in…
In many applications, tracking of multiple objects is crucial for a perception of the current environment. Most of the present multi-object tracking algorithms assume that objects move independently regarding other dynamic objects as well…
Tracking multiple time-varying states based on heterogeneous observations is a key problem in many applications. Here, we develop a statistical model and algorithm for tracking an unknown number of targets based on the probabilistic fusion…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
This paper presents a sensor-control method for choosing the best next state of the sensor(s), that provide(s) accurate estimation results in a multi-target tracking application. The proposed solution is formulated for a multi-Bernoulli…
In recent years, multi-modal fusion has attracted a lot of research interest, both in academia, and in industry. Multimodal fusion entails the combination of information from a set of different types of sensors. Exploiting complementary…
A common sensing problem is to use a set of stationary tracking locations to monitor a collection of moving devices: Given $n$ objects that need to be tracked, each following its own trajectory, and $m$ stationary traffic control stations,…
This paper presents a potential game-based method for non-myopic planning of mobile sensor networks in the context of target tracking. The planning objective is to select the sequence of sensing points over more than one future time steps…
Multi robot teams composed by ground and aerial vehicles have gained attention during the last years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper we propose two…