A Scalable, Decentralised Large-Scale Network of Mobile Robots for Multi-target Tracking
نویسندگان
چکیده
A decentralised large-scale network of mobile robots for multitarget tracking is addressed in this paper. The decentralised control is originally built up by behavioural control but upgraded with connectivity maintenance and hierarchical connectivity removal. The multi-target tracking algorithm guarantees that the mobile robots can reach the targets at the very high success rate while at least an interconnectivity network connecting all the mobile robots exists. The Monte-Carlo simulation results illustrate scalability properties of the large-scale network of mobile robots in terms of number of robots and types of scenarios.
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