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2016 | OriginalPaper | Chapter

A Scalable, Decentralised Large-Scale Network of Mobile Robots for Multi-target Tracking

Authors : Pham Duy Hung, Tran Quang Vinh, Trung Dung Ngo

Published in: Intelligent Autonomous Systems 13

Publisher: Springer International Publishing

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Abstract

A scalable, decentralised large-scale network of mobile robots for multi-target tracking is addressed in this paper. The decentralised control is originally built up by behavioural control but upgraded with decentralised robot control for connectivity maintenance and decentralised connectivity control for hierarchical connectivity removal, allowing the network expansion for tracking and occupying spatially distributed targets. The multi-target tracking algorithm guarantees that the mobile robots reach targets at very high efficiency, while at least an interconnectivity network connecting all the mobile robots is preserved for information exchange. The Monte Carlo simulation results illustrate characteristics of the decentralised control as well as its scalability through several experimental scenarios.

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previous chapter Communication-Aware Route Selection in Wireless Sensor Networks
next chapter Global Reconfiguration of a Team of Networked Mobile Robots Among Obstacles
Appendix
Available only for authorised users
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Metadata
Title
A Scalable, Decentralised Large-Scale Network of Mobile Robots for Multi-target Tracking
Authors
Pham Duy Hung
Tran Quang Vinh
Trung Dung Ngo
Copyright Year
2016
Book
Intelligent Autonomous Systems 13

Print ISBN: 978-3-319-08337-7

Electronic ISBN: 978-3-319-08338-4

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-08338-4_46

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