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A Scalable, Decentralised Large-Scale Network of Mobile Robots for Multi-target Tracking

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Intelligent Autonomous Systems 13

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 302))

Abstract

A scalable, decentralised large-scale network of mobile robots for multi-target tracking is addressed in this paper. The decentralised control is originally built up by behavioural control but upgraded with decentralised robot control for connectivity maintenance and decentralised connectivity control for hierarchical connectivity removal, allowing the network expansion for tracking and occupying spatially distributed targets. The multi-target tracking algorithm guarantees that the mobile robots reach targets at very high efficiency, while at least an interconnectivity network connecting all the mobile robots is preserved for information exchange. The Monte Carlo simulation results illustrate characteristics of the decentralised control as well as its scalability through several experimental scenarios.

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Acknowledgments

This research was supported in part by the University of Brunei Darrusalam (UBD/PNC2/2/RG/1(259)) and the Asia Research Centre and the Korea Foundation for Advanced Studies.

Author information

Authors and Affiliations

  1. University of Engineering and Technology, Hanoi, Vietnam

    Pham Duy Hung & Tran Quang Vinh

  2. The More Than One Robotics Laboratory, University of Brunei Darussalam, Brunei, Darussalam

    Trung Dung Ngo

Authors
  1. Pham Duy Hung
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  2. Tran Quang Vinh
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  3. Trung Dung Ngo
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Corresponding author

Correspondence to Trung Dung Ngo .

Editor information

Editors and Affiliations

  1. Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Nathan Michael

  3. Fachbereich Informatik, Technische Universität Kaiserslautern Arbeitsgruppe Robotersysteme, Kaiserslautern, Germany

    Karsten Berns

  4. Integrated Information Technology, Aoyama Gakuin University, Tokyo, Japan

    Hiroaki Yamaguchi

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© 2016 Springer International Publishing Switzerland

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Hung, P.D., Vinh, T.Q., Ngo, T.D. (2016). A Scalable, Decentralised Large-Scale Network of Mobile Robots for Multi-target Tracking. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_46

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  • DOI: https://doi.org/10.1007/978-3-319-08338-4_46

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08337-7

  • Online ISBN: 978-3-319-08338-4

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