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Target tracking has two variants that are often studied independently with different approaches: target searching requires a robot to find a target initially not visible, and target following requires a robot to maintain visibility on a target initially visible. In this work, we use a partially observable Markov decision process (POMDP) to build a single model that unifies target searching and target...
In many useful video tracking situations, targets move through repeated mutual occlusions. As targets undergo occlusions, the feature subsets and combinations of those features that are effective in identifying the target and improving tracking performance may change. We use combinatorial fusion analysis to select and evaluate criteria by which to identify the combination of features that will produce...
Target tracking among obstacles is an interesting class of motion planning problems that combine the usual motion constraints with robot sensors' visibility constraints. In this paper, we introduce the notion of vantage time and use it to formulate a risk function that evaluates the robot's advantage in maintaining the visibility constraint against the target. Local minimization of the risk function...
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