Multi-robot coordination for elusive target interception aided by sensor networks
Document Type
Conference Proceeding
Publication Date
12-1-2006
Abstract
This paper presente a multi-robot coordination architecture for a robot-sensor network to track and intercept targets. For a target tracking and interception task, the sensor network continuously tracks the targets and dynamically selects robots to intercept the target. The robots are navigated through the sensor network. The main contribution of this paper lies on providing a scalable, power saving robot selection algorithm for the sensor networks. The robot selection algorithm is addressed based on partitioning among sensor nodes. Through partitioning, the sensor nodes are grouped so that they know which robot to choose if it is the closest to the target. The partitioning is updated with respect to the movement of robots. The proposed algorithms are proven to be effective and verified by simulations. Some analytic investigation on the communication overhead in the sensor networks is also provided. © 2006 IEEE.
Publication Title
IEEE International Conference on Intelligent Robots and Systems
Recommended Citation
Shan, X.,
&
Tan, J.
(2006).
Multi-robot coordination for elusive target interception aided by sensor networks.
IEEE International Conference on Intelligent Robots and Systems, 5540-5545.
http://doi.org/10.1109/IROS.2006.282269
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p/10662