TY - GEN
T1 - Tracking hidden agents through shadow information spaces
AU - Yu, Jingjin
AU - LaValle, Steven M.
PY - 2008
Y1 - 2008
N2 - This paper addresses problems of inferring the locations of moving agents from combinatorial data extracted by robots that carry sensors. The agents move unpredictably and may be fully distinguishable, partially distinguishable, or completely indistinguishable. The key is to introduce information spaces that extract and maintain combinatorial sensing information. This leads to monitoring the changes in connected components of the shadow region, which is the set of points not visible to any sensors at a given time. When used in combination with a path generator for the robots, the approach solves problems such as counting the number of agents, determining movements of teams of agents, and solving pursuit-evasion problems. An implementation with examples is presented.
AB - This paper addresses problems of inferring the locations of moving agents from combinatorial data extracted by robots that carry sensors. The agents move unpredictably and may be fully distinguishable, partially distinguishable, or completely indistinguishable. The key is to introduce information spaces that extract and maintain combinatorial sensing information. This leads to monitoring the changes in connected components of the shadow region, which is the set of points not visible to any sensors at a given time. When used in combination with a path generator for the robots, the approach solves problems such as counting the number of agents, determining movements of teams of agents, and solving pursuit-evasion problems. An implementation with examples is presented.
UR - http://www.scopus.com/inward/record.url?scp=51649114046&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51649114046&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543562
DO - 10.1109/ROBOT.2008.4543562
M3 - Conference contribution
AN - SCOPUS:51649114046
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2331
EP - 2338
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -