NDLI: Scalable and convergent multi-robot passive and active sensing

Content Provider	IEEE Xplore Digital Library
Author	Kosmatopoulos, E.B. Doitsidis, L. Aboudolas, K.
Copyright Year	2009
Description	Author affiliation: Dept. of Production and Management Engineering, Technical University of Crete, Chania 73100, Greece (Kosmatopoulos, E.B.; Doitsidis, L.; Aboudolas, K.)
Abstract	A major barrier preventing the wide employment of mobile networks of robots in tasks such as exploration, mapping, surveillance, and environmental monitoring is the lack of efficient and scalable multi-robot passive and active sensing (estimation) methodologies. The main reason for this is the absence of theoretical and practical tools that can provide computationally tractable methodologies which can deal efficiently with the highly nonlinear and uncertain nature of multi-robot dynamics when employed in the aforementioned tasks. In this paper, a new approach is proposed and analyzed for developing efficient and scalable methodologies for a general class of multi-robot passive and active sensing applications. The proposed approach employs an estimation scheme that switches among linear elements and, as a result, its computational requirements are about the same as those of a linear estimator. The parameters of the switching estimator are calculated off-line using a convex optimization algorithm which is based on optimization and approximation using Sum-of-Squares (SoS) polynomials. As shown by rigorous arguments, the estimation accuracy of the proposed scheme is equal to the optimal estimation accuracy plus a term that is inversely proportional to the number of estimator's switching elements (or, equivalently, to the memory storage capacity of the robots' equipment). The proposed approach can handle various types of constraints such as communication and computational constraints as well as obstacle avoidance and maximum speed constraints and can treat both problems of passive and active sensing in a unified manner. The efficiency of the approach is demonstrated on a 3D active target tracking application employing flying robots.
Starting Page	5828
Ending Page	5833
File Size	219349
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5353891
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Employment Mobile robots Surveillance Monitoring Switches Approximation algorithms Polynomials Communication switching Target tracking
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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