NDLI: Multi-robot pursuit with visibility constraints

Content Provider	IEEE Xplore Digital Library
Author	Urtis, E.K. Papanikolopoulos, N.
Copyright Year	2009
Abstract	We address the problem of pursuing a moving target from multiple angles using multiple mobile robots. The pursuer uses a modified form of pursuit curve in order to reach the multiple aim points which are at a pre-determined distance and angle from the target. This is different from existing works that track a target to localize it, follow a target by keeping it in the current frame of view generally from behind the target, or pursue a target in order to establish a line of sight. The focus in our work is on an efficient pursuit of the target such that the pursuers move to a position in order to obtain certain task specific information or perform actions that require specific positioning with respect to the target. Examples include following a target and taking left, right, and frontal images of it for accurate identification, or robots approaching a vehicle for docking, etc. In this paper, we define the multi-angle pursuit problem for multiple robots and present a pareto optimal solution for task allocation.
Starting Page	274
Ending Page	279
File Size	224467
Page Count	6
File Format	PDF
ISBN	9781424450213
DOI	10.1109/ISCIS.2009.5291826
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-09-14
Publisher Place	Cyprus
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer science Computer vision Target tracking Robot vision systems Focusing Cameras Cost function Robot sensing systems Mobile robots Distributed computing
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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