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  Multi-robot cooperative spherical-object tracking in 3D space based on particle filters

Ahmad, A., & Lima, P. (2013). Multi-robot cooperative spherical-object tracking in 3D space based on particle filters. Robotics and Autonomous Systems, 61(10), 1084-1093. doi:10.1016/j.robot.2012.12.008.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0001-3DBD-7 Version Permalink: http://hdl.handle.net/21.11116/0000-0001-3DBE-6
Genre: Journal Article

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Ahmad, A1, Author              
Lima, P, Author
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1Institute for Systems and Robotics, Instituto Superior Técnico, Lisboa, Portugal, ou_persistent22              

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 Abstract: This article presents a cooperative approach for tracking a moving spherical object in 3D space by a team of mobile robots equipped with sensors, in a highly dynamic environment. The tracker’s core is a particle filter, modified to handle, within a single unified framework, the problem of complete or partial occlusion for some of the involved mobile sensors, as well as inconsistent estimates in the global frame among sensors, due to observation errors and/or self-localization uncertainty. We present results supporting our approach by applying it to a team of real soccer robots tracking a soccer ball, including comparison with ground truth.

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 Dates: 2013-10
 Publication Status: Published in print
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 Identifiers: DOI: 10.1016/j.robot.2012.12.008
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Title: Robotics and Autonomous Systems
Source Genre: Journal
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Pages: - Volume / Issue: 61 (10) Sequence Number: - Start / End Page: 1084 - 1093 Identifier: -