Multi-model Tracking using Team Actuation Models

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Multi-model Tracking using Team Actuation Models
Abstract— Robots need to track object. Object tracking efficiency completely depends on the accuracy of the motion model and of the sensory information. Interestingly, when multiple teammembers can actuate the object being tracked, the motion can become highly discontinuous and nonlinear. We have previously developed a successful tracking approach that switches among target motion models as a function of one robot’s actions. In this paper, we report on a tracking approach that can use a dynamic multiple motion model based on a team coordination plan. We present the multi-model probabilistic tracking algorithms in detail and present empirical results both in simulation and in a human-robot Segway soccer team. The team coordination plan allows the robot to much more effectively track mobile targets.
Yang Gu, Manuela M. Veloso
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Yang Gu, Manuela M. Veloso
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