Value-Based Observation with Robot Teams (VBORT) for Dynamic Targets

Ashley Stroupe and Tucker Balch
Proceedings of IROS '03, September, 2003.


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Abstract
We present an application of our VBORT algorithm to observation of multiple dynamic targets with robot teams. VBORT is a distributed algorithm that directs the motions of a robot team to maximize effectiveness in observation tasks. The algorithm chooses the most appropriate move for each robot by determining the move with the greatest value. Value is related to reduction in target estimate uncertainty over all simultaneous robot observations. This approach can be applied to any number of tasks if applicable value functions are provided. Multiple objectives may be simultaneously considered through addition of other value functions. In previous work, VBORT has been applied to mapping static targets and shown to provide results close to a one-step optimal [8]. Here VBORT is applied to observing dynamic objects. Simulation experiments are conducted to evaluate the approach. In the dynamic case, robots are able to follow targets and provide more effective complementary observations than without VBORT.

Notes
Associated Lab(s) / Group(s): MultiRobot Lab
Number of pages: 7
Note: submitted

Text Reference
Ashley Stroupe and Tucker Balch, "Value-Based Observation with Robot Teams (VBORT) for Dynamic Targets," Proceedings of IROS '03, September, 2003.

BibTeX Reference
@inproceedings{Stroupe_2003_4478,
   author = "Ashley Stroupe and Tucker Balch",
   title = "Value-Based Observation with Robot Teams (VBORT) for Dynamic Targets",
   booktitle = "Proceedings of IROS '03",
   month = "September",
   year = "2003",
   Notes = "submitted"
}