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Perceiving Systems Article 2013

Multi-robot cooperative spherical-object tracking in 3D space based on particle filters

Thumb ticker sm aamir
Perceiving Systems
Aamir Ahmad
Tenure-track Professor, University of Stuttgart, Research Group Leader (mpi-is)

This article presents a cooperative approach for tracking a moving spherical object in 3D space by a team of mobile robots equipped with sensors, in a highly dynamic environment. The tracker’s core is a particle filter, modified to handle, within a single unified framework, the problem of complete or partial occlusion for some of the involved mobile sensors, as well as inconsistent estimates in the global frame among sensors, due to observation errors and/or self-localization uncertainty. We present results supporting our approach by applying it to a team of real soccer robots tracking a soccer ball, including comparison with ground truth.

Author(s): Ahmad, A and Lima, P
Journal: Robotics and Autonomous Systems
Volume: 61
Number (issue): 10
Pages: 1084--1093
Year: 2013
Month: October
Bibtex Type: Article (article)
DOI: 10.1016/j.robot.2012.12.008
Electronic Archiving: grant_archive

BibTex 

@article{AhmadL2013,
  title = {Multi-robot cooperative spherical-object tracking in 3D space based on particle filters},
  journal = {Robotics and Autonomous Systems},
  abstract = {This article presents a cooperative approach for tracking a moving spherical object in 3D space by a team of mobile robots equipped with sensors, in a highly dynamic environment. The tracker’s core is a particle filter, modified to handle, within a single unified framework, the problem of complete or partial occlusion for some of the involved mobile sensors, as well as inconsistent estimates in the global frame among sensors, due to observation errors and/or self-localization uncertainty. We present results supporting our approach by applying it to a team of real soccer robots tracking a soccer ball, including comparison with ground truth.},
  volume = {61},
  number = {10},
  pages = {1084--1093},
  month = oct,
  year = {2013},
  slug = {ahmadl2013},
  author = {Ahmad, A and Lima, P},
  month_numeric = {10}
}