Triangulation based multi target tracking with mobile sensor networks

Seema Kamath, Eric Meisner, Volkan Isler

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

30 Scopus citations

Abstract

We study the problem of designing motionplanning and sensor assignment strategies for tracking multiple targets with a mobile sensor network. We focus on triangulation based tracking where two sensors merge their measurements in order to estimate the position of a target. We present an iterative and distributed algorithm for the tracking problem. An iteration starts with an initialization phase where targets are assigned to sensor pairs. Afterwards, assigned sensors relocate to improve their estimates. We refer to the problem of computing new locations for sensors (for given target assignments) as one-step tracking. After observing that one-step tracking is computationally hard, we show how it can be formulated as an energy-minimization problem. This allows us to adapt well-studied distributed algorithms for energy minimization. We present simulations to compare the performance of two such algorithms and conclude the paper with a description of the full tracking strategy. The utility of the presented strategy is demonstrated with simulations and experiments on a sensor network platform.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages3283-3288
Number of pages6
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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