On the performance of multi-robot target tracking

Faraz M. Mirzaei, Anastasios I. Mourikis, Stergios I. Roumeliotis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Scopus citations

Abstract

In this paper, we study the accuracy of Cooperative Localization and Target Tracking (CLATT) in a team of mobile robots, and derive analytical upper bounds for the position uncertainty. The obtained bounds provide a description of the asymptotic positioning performance of the robots and the targets as a function of the sensor characteristics and the structure of the graph of relative position measurements. By employing an Extended Kalman Filter (EKF) formulation for data fusion, two key asymptotic results are derived. The first provides the guaranteed worst-case positioning accuracy, whereas the second determines an upper bound on the expected covariance of the estimates. We investigate the effects of jointly estimating the targets' and the robots' position, and demonstrate that it results in better accuracy for the robots' position estimates. The theoretical results are confirmed both in simulation and experimentally.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages3482-3489
Number of pages8
DOIs
StatePublished - Nov 27 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

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