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Searching and tracking people with cooperative mobile robots

Author
Goldhoorn, A.; Garrell, A.; Alquezar, R.; Sanfeliu, A.
Type of activity
Journal article
Journal
Autonomous robots
Date of publication
2018
Volume
42
Number
4
First page
739
Last page
759
DOI
https://doi.org/10.1007/s10514-017-9681-6 Open in new window
Project funding
Aerial Robotics Cooperative Assembly System
Repository
http://hdl.handle.net/2117/118150 Open in new window
URL
https://link.springer.com/article/10.1007%2Fs10514-017-9681-6 Open in new window
Abstract
Social robots should be able to search and track people in order to help them. In this paper we present two different techniques for coordinated multi-robot teams for searching and tracking people. A probability map (belief) of a target person location is maintained, and to initialize and update it, two methods were implemented and tested: one based on a reinforcement learning algorithm and the other based on a particle filter. The person is tracked if visible, otherwise an exploration is done b...
Citation
Goldhoorn, A., Garrell, A., Alquezar, R., Sanfeliu, A. Searching and tracking people with cooperative mobile robots. "Autonomous robots", 2018, vol. 42, núm. 4, p. 739-759.
Keywords
Decentralized Coordination, Urban Robotics, automation, cybernetics; Multi-Robot coordination, motion real time, search-and-Track
Group of research
VIS - Artificial Vision and Intelligent Systems

Participants