Bearing-Only Active Target Localization Strategies for a System of Two Communicating Mobile Robots: Full Technical Report
2013-04-08
Loading...
View/Download File
Persistent link to this item
Statistics
View StatisticsJournal Title
Journal ISSN
Volume Title
Title
Bearing-Only Active Target Localization Strategies for a System of Two Communicating Mobile Robots: Full Technical Report
Authors
Published Date
2013-04-08
Publisher
Type
Report
Abstract
We study the problem of locating a stationary target using two robots equipped with bearing sensors. The goal is to reduce the uncertainty in the target's location to a value below a given threshold in minimum time. Our cost formulation explicitly models time spent in traveling as well as taking measurements. Further, the robots are subject to distance-based communication constraints. We first study properties of an optimal strategy which has access to the target's true location. It turns out that under certain circumstances, the optimal algorithm will break communication to take measurements and rendezvous to merge them.
Using these insights, we design an online strategy (which does not have access to the target's true location) and show that the strategy can locate the target up to a desired uncertainty level at near-optimal cost. The results are applicable to other bearing sensors with non-zero measurement cost, such as pan- tilt cameras. In addition to theoretical analysis, we validate the algorithm in simulations and field experiments performed using autonomous surface vehicles. This full version includes proofs which are not included in the conference version.
Keywords
Description
Related to
Replaces
License
Series/Report Number
Funding information
Isbn identifier
Doi identifier
Previously Published Citation
Suggested citation
Vander Hook, Joshua; Tokekar, Pratap. (2013). Bearing-Only Active Target Localization Strategies for a System of Two Communicating Mobile Robots: Full Technical Report. Retrieved from the University Digital Conservancy, https://hdl.handle.net/11299/215915.
Content distributed via the University Digital Conservancy may be subject to additional license and use restrictions applied by the depositor. By using these files, users agree to the Terms of Use. Materials in the UDC may contain content that is disturbing and/or harmful. For more information, please see our statement on harmful content in digital repositories.