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Target tracking with bearing-only sensors is a challenging problem when the target moves dynamically in complex scenarios. Besides the partial observability of such sensors, they have limited field of views, occlusions can occur, etc. In those cases, cooperative approaches with multiple tracking robots are interesting, but the different sources of uncertain information need to be considered appropriately...
In this paper, we propose a cooperative perception framework for multi-robot real-time 3D high dynamic target estimation in outdoor scenarios based on monocular camera available on each robot. The relative position and orientation between robots establishes a flexible and dynamic stereo baseline. Overlap views subject to geometric constraints emerged from the stereo formulation, which allowed us to...
This paper describes a preliminary and innovative approach to integrated cooperative control and navigation of multi robots dynamic formations that encompasses the simultaneous tracking of opponent team players in robotic football games. Unlike traditional approaches that use self-localization to distribute object position estimates, a coordinated approach to cooperative formation navigation is proposed...
For mobile vehicle navigation in dynamic environments it is desirable that robots have a model of the dynamic aspects of the world. In this paper we present a method for detection and tracking of multiple moving objects using sensor information. The method uses particle filters to estimate objects states, and sample based joint probabilistic data association filters to perform the assignment of features...
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