Paper Info
Title
A Reactive Multi-Agent System for Localisation and Tracking in Mobile Robotics
Abstract
Localization and target-tracking are both difficult yet essential and wide spread tasks in mobile robotics. Localization can be defined as determining the position of an object within a reference coordinate system, tracking consists of constructing a trajectory given a collection of spatially and temporally coherent localizations. We propose in this paper a swarm approach to address these issues using an interaction paradigm inspired from physics. The combination of different interactions such as attraction, repulsion, consumption and evaporation results in a self-organized process that builds patterns interpreted as solutions of the problem. After a description of the proposed model, this paper analyses the properties and the performance of our device through experiments in simulation and with real robots. In particular, a comparison with the standard Kalman filtering method demonstrates the relevancy of our approach. Moreover, it improves upon traditional ones int terms of robustness, adaptability, and data fusion capabilities.
Year
DOI
Venue
2004
10.1109/ICTAI.2004.15
ICTAI
Keywords
DocType
ISSN
data fusion capability,swarm approach,temporally coherent localization,reactive multi-agent system,mobile robotics,different interaction,real robot,evaporation result,interaction paradigm,int term,mobile robot,multi agent system,kalman filters,multi agent systems,mobile robots,sensor fusion
Conference
1082-3409
ISBN
Citations 
PageRank 
0-7695-2236-X
2
0.45
References 
Authors
4
3
Name
Order
Citations
PageRank
Franck Gechter115526.99
Vincent Chevrier215724.47
Francois Charpillet315416.96