Swarming-based mobile target following using limited-capability mobile mini-robots

Li Fan, Prithviraj Dasgupta, Ke Cheng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Locating and tracking mobile objects or targets using dynamically assigned multi-robot teams operating within an unknown or partially-known environment is an important problem in many applications of autonomous systems. Several approaches such as CMOMMT and pursuit-evasion games have been proposed to address this problem. However, each of these techniques requires specific sensors and/or considerable computational capabilities on each robot. In this paper, we consider the problem of locating and following mobile targets in an unknown environment, but only using inexpensive mini-robots with limited computation capabilities and less-sophisticated sensors. Our proposed technique is inspired by the swarming behavior observed in social insects such as ants when their nest is migrated to a different region, or when a food source they are traveling to is obstructed. We present detailed empirical analyzes of our proposed algorithm for mobile target following using a realistic model of e-puck robots within the Webots robot simulator. Our results show that our mobile target following mechanism enables limited-capability pursuer robots to successfully follow mobile targets under different operational and environment conditions.

Original languageEnglish (US)
Title of host publication2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings
Pages168-175
Number of pages8
DOIs
StatePublished - 2009
Event2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Nashville, TN, United States
Duration: Mar 30 2009Apr 2 2009

Publication series

Name2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings

Conference

Conference2009 IEEE Swarm Intelligence Symposium, SIS 2009
CountryUnited States
CityNashville, TN
Period3/30/094/2/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Software

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    Fan, L., Dasgupta, P., & Cheng, K. (2009). Swarming-based mobile target following using limited-capability mobile mini-robots. In 2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings (pp. 168-175). [4937860] (2009 IEEE Swarm Intelligence Symposium, SIS 2009 - Proceedings). https://doi.org/10.1109/SIS.2009.4937860