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

Duy Hung Pham and Quang Vinh Tran and Trung Dung Ngo (2016) A Scalable, Decentralised Large-Scale Network of Mobile Robots for Multi-target Tracking. In: Intelligent Autonomous Systems 13. 2194-5357, 302 . Springer International Publishing, pp. 621-637. ISBN 978-3-319-08338-4

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Official URL: http://link.springer.com/book/10.1007/978-3-319-08...

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.

Item Type:Book Section
Subjects:Electronics and Communications
Electronics and Communications > Electronics and Computer Engineering
Divisions:Faculty of Electronics and Telecommunications (FET)
ID Code:1770
Deposited By: Assoc/Prof Duc Tan Tran
Deposited On:09 Jun 2016 09:06
Last Modified:09 Jun 2016 09:06

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