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Effective Multi-Model Tracking Using Team Actuation Models (2005)
BibTeX
@MISC{Gu05effectivemulti-model,
author = {Yang Gu and Brett Browning and Geoffrey Gordon and Martial Hebert},
title = {Effective Multi-Model Tracking Using Team Actuation Models},
year = {2005}
}
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Abstract
Robots need to track objects. We identify two kinds of tracking problems in which: (i) the tracker is static or does not actuate on the tracked object and (ii) the tracker actuates on the object. This thesis focuses on the latter problem. Tracking is performed by a robot executing specific tasks acting over the object being tracked, such as a Segway RMP soccer robot grabbing and kicking a ball. Object tracking efficiency completely depends on the accuracy of the motion model and of the sensory information. The motion model of the target becomes particulary complex in our case and highly dependent on the robot’s actions. In addition, this thesis also considers the challenging environment of multiple team members actuating the object being tracked. In this case, the motion can become highly discontinuous and nonlinear. We assume that robots know their own actions, and robots in a team are collaborating according to the coordination plans. We claim that the knowledge in terms of the single robot control strategy and the multi-robot coordination plan can be a valuable source of information for tracking. Communication between robots is another interesting information source. This thesis contributes an approach to incorporate prior and
