TY - GEN
T1 - Optimal motion strategies for range-only distributed target tracking
AU - Zhou, Ke X.
AU - Roumeliotis, Stergios
N1 - Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2006
Y1 - 2006
N2 - In this paper we study the problem of optimal trajectory generation for a team of mobile robots that tracks a moving target using range-only measurements. We propose an adaptive-relaxation algorithm for determining the set of feasible locations that each robot must move to in order to collect the most informative measurements; i.e., distance measurements that minimize the uncertainty about the position of the target. We prove that the motion strategy that minimizes the trace of the position error covariance matrix is equivalent to the one that minimizes its maximum eigenvalue. The proposed method is applicable regardless of the process model employed for describing the motion of the target while its computational complexity is linear in the number of robots. Extensive simulation results are presented, demonstrating that the performance attained with the proposed method is comparable to that obtained with exhaustive search whose computational cost is exponential in the number of robots.
AB - In this paper we study the problem of optimal trajectory generation for a team of mobile robots that tracks a moving target using range-only measurements. We propose an adaptive-relaxation algorithm for determining the set of feasible locations that each robot must move to in order to collect the most informative measurements; i.e., distance measurements that minimize the uncertainty about the position of the target. We prove that the motion strategy that minimizes the trace of the position error covariance matrix is equivalent to the one that minimizes its maximum eigenvalue. The proposed method is applicable regardless of the process model employed for describing the motion of the target while its computational complexity is linear in the number of robots. Extensive simulation results are presented, demonstrating that the performance attained with the proposed method is comparable to that obtained with exhaustive search whose computational cost is exponential in the number of robots.
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U2 - 10.1109/acc.2006.1657547
DO - 10.1109/acc.2006.1657547
M3 - Conference contribution
AN - SCOPUS:34047196959
SN - 1424402107
SN - 9781424402106
T3 - Proceedings of the American Control Conference
SP - 5195
EP - 5200
BT - Proceedings of the 2006 American Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2006 American Control Conference
Y2 - 14 June 2006 through 16 June 2006
ER -