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  Multi-Robot Cooperative Object Tracking Based on Particle Filters

Ahmad, A., & Lima, P. (2013). Multi-Robot Cooperative Object Tracking Based on Particle Filters. Robotics and Autonomous Systems, 61(10), 1084-1093.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0001-4A64-C Version Permalink: http://hdl.handle.net/21.11116/0000-0001-4A65-B
Genre: Conference Paper

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 Creators:
Ahmad, A1, Author              
Lima, P, Author
Affiliations:
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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Title: 5th European Conference on Mobile Robots (ECMR 2011)
Place of Event: Örebro, Sweden
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Title: Robotics and Autonomous Systems
Source Genre: Journal
 Creator(s):
Lilienthal, AJ, Editor
Duckett, T, Editor
Affiliations:
-
Publ. Info: -
Pages: - Volume / Issue: 61 (10) Sequence Number: - Start / End Page: 1084 - 1093 Identifier: -