Abstract
Surveillance is a typical task in the field of multi robot systems that operate as a security system. This paper is concerned with the special problem of observing expanded objects in such settings. A solution in form of a Viterbi based tracking algorithm is presented. Thus a Maximum-a-posteriori (MAP) filtering technique is applied to perform the tracking process. The mathematical background of the algorithm is proposed. The method uses the robot sensors in form of laser range finders and a motion and observation model of the objects being tracked. The special features of the Viterbi based algorithm can be used to support active sensing. The tracking information will facilitate the robots to enhance the perceptual processing via dexterous sensor positioning.
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Schneider, F.E., Kräußling, A., Wildermuth, D. (2007). An approach to active sensing using the Viterbi algorithm. In: Alami, R., Chatila, R., Asama, H. (eds) Distributed Autonomous Robotic Systems 6. Springer, Tokyo. https://doi.org/10.1007/978-4-431-35873-2_11
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DOI: https://doi.org/10.1007/978-4-431-35873-2_11
Publisher Name: Springer, Tokyo
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