Application of an Active-passive Dynamic Consensus Filters Approach to the Multiagent Tracking Problem for Situational Awareness in Unknown Environments
Abstract
In this paper, we present an application of multiagent systems to the multitarget tracking problem, where networked nodes exchange their local information to construct a global map of an unknown environment for situational awareness. Recognizing the fact that networked nodes can be heterogeneous with respect to the number of targets sensed in their respective local environments, we utilize a recently developed active-passive dynamic consensus filters approach (Refs. 1, 2). Specifically, a node is considered active for targets it is able to sense and passive for targets it is unable to sense. We use two ground robots equipped with object detection sensors to track local targets in a global frame. Networked nodes use the active-passive dynamic consensus filters approach to distribute and fuse information to make all networked nodes aware of all targets in the environment.
Recommended Citation
J. D. Peterson and T. Yucelen, "Application of an Active-passive Dynamic Consensus Filters Approach to the Multiagent Tracking Problem for Situational Awareness in Unknown Environments," 2016 AIAA Guidance, Navigation, and Control Conference, American Institute of Aeronautics and Astronautics, Jan 2016.
Department(s)
Mechanical and Aerospace Engineering
International Standard Book Number (ISBN)
978-162410389-6
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 American Institute of Aeronautics and Astronautics, All rights reserved.
Publication Date
01 Jan 2016