Localizing and Tracking Targets with a Reactive Multi-Agent System

Franck Gechter Vincent Chevrier 1 François Charpillet 1
1 MAIA - Autonomous intelligent machine
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
Abstract : Localization and Target-Tracking are both tough and wide spread tasks in mobile robotics. As the localization issue can be defined as the process to determine the position of an object within a reference coordinate system, the tracking consists in constructing a trajectory thanks to a collection of spatially and temporally coherent localizations. We propose in this paper a swarm approach for addressing this issue using an interaction paradigm inspired from physics. The combination of different inter-agent or agent-environment interactions such as attraction, repulsion, consumption and evaporation results in a self-organised process that builds patterns interpreted as solutions of the problem. After a description of the proposed model, this paper analyses the properties and the performance of our device through experiments in simulation and with real robots considered as moving targets. In particular, a comparison with the standard Kalman filtering method demonstrates the relevancy of our approach. Moreover, it overpasses traditional ones concerning its robustness, adaptability, data fusion capabilities.
Type de document :
Communication dans un congrès
Second European Workshop on Multi-Agent Systems - EUMAS'04, 2004, Barcelona, Spain, 8 p, 2004
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https://hal.inria.fr/inria-00108092
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Soumis le : jeudi 19 octobre 2006 - 15:40:57
Dernière modification le : jeudi 11 janvier 2018 - 06:19:50

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  • HAL Id : inria-00108092, version 1

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Franck Gechter, Vincent Chevrier, François Charpillet. Localizing and Tracking Targets with a Reactive Multi-Agent System. Second European Workshop on Multi-Agent Systems - EUMAS'04, 2004, Barcelona, Spain, 8 p, 2004. 〈inria-00108092〉

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