Related papers: Probabilistic Search and Track with Multiple Mobil…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
Autonomous robot person-following (RPF) systems are crucial for personal assistance and security but suffer from target loss due to occlusions in dynamic, unknown environments. Current methods rely on pre-built maps and assume static…
We consider the online planning problem for a team of agents to discover and track an unknown and time-varying number of moving objects from onboard sensor measurements with uncertain measurement-object origins. Since the onboard sensors…
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…
We propose an efficient random finite set (RFS) based algorithm for multiobject tracking in which the object states are modeled by a combination of a labeled multi-Bernoulli (LMB) RFS and a Poisson RFS. The less computationally demanding…
The aim of the present dissertation is to address distributed tracking over a network of heterogeneous and geographically dispersed nodes (or agents) with sensing, communication and processing capabilities. Tracking is carried out in the…
The task of rendezvous (also called {\em gathering}) calls for a meeting of two or more mobile entities, starting from different positions in some environment. Those entities are called mobile agents or robots, and the environment can be a…
This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach…
In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly-connected interaction topologies of the follower agents with uncertainties are…
We consider a game played between a hider, who hides a static object in one of several possible positions in a bounded planar region, and a searcher, who wishes to reach the object by querying sensors placed in the plane. The searcher is a…
Consider a mobile robot tasked with localizing targets at unknown locations by obtaining relative measurements. The observations can be bearing or range measurements. How should the robot move so as to localize the targets and minimize the…
We study the collective motion of autonomous mobile agents on a ringlike environment. The agents' dynamics is inspired by known laboratory experiments on the dynamics of locust swarms. In these experiments, locusts placed at arbitrary…
A group of cooperative aerial robots can be deployed to efficiently patrol a terrain, in which each robot flies around an assigned area and shares information with the neighbors periodically in order to protect or supervise it. To ensure…
Multi-agent systems (MAS) may encounter uncertainties in the form of unexpected environmental conditions, sub-optimal system configurations, and unplanned interactions between autonomous agents. The number of combinations of such…
We propose to use a supervised machine learning technique to track the location of a mobile agent in real time. Hidden Markov Models are used to build artificial intelligence that estimates the unknown position of a mobile target moving in…
We present a message passing algorithm for localization and tracking in multipath-prone environments that implicitly considers obstructed line-of-sight situations. The proposed adaptive probabilistic data association algorithm infers the…
In the target tracking and its engineering applications, recursive state estimation of the target is of fundamental importance. This paper presents a recursive performance bound for dynamic estimation and filtering problem, in the framework…
This paper introduces a novel reachability problem for the scenario involving two agents, where one agent follows another agent using a feedback strategy. The geometry of the reachable set for an agent, termed \emph{dependent reachable…
RF sensor networks are wireless networks that can localize and track people (or targets) without needing them to carry or wear any electronic device. They use the change in the received signal strength (RSS) of the links due to the…
In the context of search and rescue, we consider the problem of mission planning for heterogeneous teams that can include human, robotic, and animal agents. The problem is tackled using a mixed integer mathematical programming formulation…