Target tracking with distributed robotic macrosensors

We have developed a novel control mechanism that deploys a large number of inexpensive robots as a distributed remote sensing array, called a distributed robotic macrosensor (DRM). This DRM has the capability to track targets of both a discrete (e.g., a vehicle) and diffuse (e.g., a chemical plume)...

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Bibliographic Details
Main Authors: Shucker, B., Bennett, J.K.
Format: Conference Proceeding
Language:English
Subjects:
Chemicals
Computer science
Distributed control
Fault tolerance
Remote sensing
Robot kinematics
Robot sensing systems
Springs
Target tracking
Vehicles
Online Access:Request full text
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Description
Summary:We have developed a novel control mechanism that deploys a large number of inexpensive robots as a distributed remote sensing array, called a distributed robotic macrosensor (DRM). This DRM has the capability to track targets of both a discrete (e.g., a vehicle) and diffuse (e.g., a chemical plume) nature. Attack resistance is an inherent property of the DRM as well. A relatively simple virtual spring mesh abstraction is used to provide fully distributed control that is both flexible and fault-tolerant. We describe the algorithms for spring mesh formation and control, discrete target tracking, and diffuse target tracking. We also present simulation results demonstrating the efficacy and robustness of DRMs
ISSN:2155-7578
2155-7586
DOI:10.1109/MILCOM.2005.1606061