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A receding horizon control of a cooperative multi target tracking system

Pari, E. M ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1109/ICA.2011.6130139
  3. Abstract:
  4. In this paper the problem of cooperative tracking of multiple targets for multi-agent systems is investigated. Defining problem of target tracking as gathering maximum rewards associated with the targets, an optimization-based algorithm is presented. A cooperative receding horizon controller for reaching moving targets is proposed. Agents are controlled by adjusting their headings toward the moving targets. A notable advantage of the proposed approach is the estimations of target's motion and planning the agent's heading based on them. Simulation results are provided to verify the efficiency of the proposed method
  5. Keywords:
  6. Cooperative control ; Multi-agent system ; Co-operative control ; Cooperative tracking ; Moving targets ; Multi target tracking system ; Multiple targets ; Optimization-based algorithm ; Receding horizon control ; Receding horizon controllers ; Target tracking ; Multi agent systems
  7. Source: Proceedings of 2011 2nd International Conference on Instrumentation Control and Automation, ICA 2011 ; 2011 , Pages 109-112 ; 9781457714603 (ISBN)
  8. URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6130139