Value-based action selection for observation with robot teams using probabilistic techniques

Stroupe, Ashley W.; Balch, Tucker

doi:10.1016/j.robot.2004.08.002

Cited by 39 publications

(27 citation statements)

References 6 publications

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“…The work that is closely related to the problem addressed in this paper is that of Stroupe and Balch [11]. In [11], the authors propose an approximately optimal tracking behavior, in which the robots attempt to minimize the target location uncertainty.…”

Section: Literature Reviewmentioning

confidence: 99%

“…In [11], the authors propose an approximately optimal tracking behavior, in which the robots attempt to minimize the target location uncertainty. The objective function is the determinant of the target location covariance matrix.…”

Section: Literature Reviewmentioning

confidence: 99%

“…One of the main drawbacks of the approach in [11] is that the minimization criterion does not appropriately represent the uncertainty of the target. If for example the target-position covariance matrix is close to becoming singular, its determinant will be approximately zero regardless of the values of the individual components of the diagonal.…”

Section: Literature Reviewmentioning

confidence: 99%

“…It is therefore appropriate to employ as objective function for determining the sensors' trajectories the same one employed for deriving the estimator used. Additionally, the algorithm in [11] only approximately accounts for the fellow robots' contributions, thus allowing it to scale linearly in the number of robots. Our algorithm, based on adaptive relaxation, has complexity linear in the number of robots and performs simultaneous optimization of every robot's heading.…”

Section: Literature Reviewmentioning

confidence: 99%

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Optimal motion strategies for range-only distributed target tracking

Zhou

Roumeliotis²

2006

2006 American Control Conference

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Abstract-In this paper we study the problem of optimal trajectory generation for a team of mobile robots that tracks a moving target using range-only measurements. We propose an adaptive-relaxation algorithm for determining the set of feasible locations that each robot must move to in order to collect the most informative measurements; i.e., distance measurements that minimize the uncertainty about the position of the target. We prove that the motion strategy that minimizes the trace of the position error covariance matrix is equivalent to the one that minimizes its maximum eigenvalue. The proposed method is applicable regardless of the process model employed for describing the motion of the target while its computational complexity is linear in the number of robots. Extensive simulation results are presented, demonstrating that the performance attained with the proposed method is comparable to that obtained with exhaustive search whose computational cost is exponential in the number of robots.

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Section: Literature Reviewmentioning

confidence: 99%

Section: Literature Reviewmentioning

confidence: 99%

Section: Literature Reviewmentioning

confidence: 99%

Section: Literature Reviewmentioning

confidence: 99%

See 2 more Smart Citations

Optimal motion strategies for range-only distributed target tracking

Zhou

Roumeliotis²

2006

2006 American Control Conference

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“…In [9,10], the configuration of a team of mobile robots was actively controlled by minimizing the expected error in tracking target positions, and a decentralised system architecture maximizing local information gains was presented in [2]. A reactive motion planner was reported in [7] that maximizes the shortest distance that a target needs to move in order to escape an observer's visibility region.…”

Section: Related Workmentioning

confidence: 99%

Cooperative Multi-robot Target Tracking

Jung¹,

Sukhatme

Distributed Autonomous Robotic Systems 7

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Summary. Target tracking performance can be improved by using multiple robot trackers, but this requires a coordinated motion strategy among the robots. We propose an algorithm based on treating the densities of robots and targets as properties of the environment in which they are embedded. By suitably manipulating these densities a control law for each robot is proposed. The proposed algorithm has been tested through intensive simulations and a realrobot experiment. First, two different versions of the approach were evaluated by studying the performance change as the communication range among robots varies. The results showed that our treatment of the coordination problem is effective and efficient. Second, the developed system was tested on two Segway RMP robots, and the behaviors of the robots in a cooperative tracking experiment provide evidence that the proposed method controls multiple robots appropriately according to the target distribution change.

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Targeted chemotherapy with cytotoxic bombesin analogue AN‐215 can overcome chemoresistance in experimental renal cell carcinomas

Keller

Schally

Nagy

et al. 2005

Cancer

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Members of the Cercocebus‐Mandrillus clade are united by several morphological features, including expanded premolars which are argued to be associated with a preponderance of hard objects in the diet. We test the association between premolar expansion and hard object feeding by examining how different dental regions are used during food processing. We examined the diet and oral processing activities of sooty mangabeys (Cercocebus atys) in the Ivory Coast's Tai forest from August 2008 to September 2009. In addition to compiling diet profiles, we recorded the frequency that individuals performed four activities: 1) incising, 2) canine puncturing/scraping, 3) postcanine crushing (i.e., isometric biting), and 4) routine mastication (chewing cycles). Sooty mangabeys have a relatively narrow diet that consists largely of nuts/seeds, fruits, and invertebrates. While there are age and sex differences in diet, the most frequently consumed foods are similar across age and sex classes. The most frequently consumed foods are seeds of Sacoglottis gabonensis which are the hardest items in the sooty mangabey diet. Patterns of ingestive behavior vary with food type, but adults and nonadults (excluding infants dependent onmothers) of both sexes process similar foods. Premolar expansion in Cercocebus atys is associated with powerful crushing of hard objects of specific size and durophagy is a constant feature of sooty mangabey feeding ecology throughout ontogeny. Am J Phys Anthropol, 2010. © 2010 Wiley‐Liss, Inc.

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Value-based action selection for observation with robot teams using probabilistic techniques

Cited by 39 publications

References 6 publications

Optimal motion strategies for range-only distributed target tracking

Optimal motion strategies for range-only distributed target tracking

Cooperative Multi-robot Target Tracking

Targeted chemotherapy with cytotoxic bombesin analogue AN‐215 can overcome chemoresistance in experimental renal cell carcinomas

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