|Funding Reference||FCT - PTDC/EEA-CRO/100692/2008|
Several robotic tasks require or benefit from the cooperation of multiple robots: transportation of large-size objects, large area coverage (e.g., for cleaning) or surveillance (e.g., for fire detection), pollutant plume tracking, or target detection and tracking, to name but a few. In this project, we propose a novel active approach to cooperative perception through coordinated vehicle motion control. The vehicle formation geometry will change dynamically so as to optimize the accuracy of cooperative perception of a static or dynamic target by the formation vehicles. To achieve this, we will introduce innovative decentralized low-communication formation full state estimation methods, and dynamic-goal-driven formation control, for cooperative target localization and tracking by decentralized fusion of the data measured by all the formation vehicles.
Intelligent Robots and Systems Group (IRSg)
|Project Partners||INESC-P/FEUP (PT), ISEP/IPP (PT)|
Perception-Driven Coordinated Multi-Robot Motion Control