An Indoor Experiment in Decentralized Coordinated Search

Abstract

This paper addresses the problem of coordinating a team of multiple heterogeneous sensing platforms searching for a single mobile target in a dynamic environment. The proposed implementation of an active sensor network architecture combines a general decentralized Bayesian filtering algorithm with a decentralized coordinated control strategy. In this approach, by communicating with their neighbors on the network, each decision maker builds an equivalent representation of the probability density function of the target state on which they base their control decision.