Tracking hidden agents through shadow information spaces

Jingjin Yu, Steven M. LaValle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages2331-2338
Number of pages8
DOIs
StatePublished - Sep 18 2008
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: May 19 2008May 23 2008

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period5/19/085/23/08

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Yu, J., & LaValle, S. M. (2008). Tracking hidden agents through shadow information spaces. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 (pp. 2331-2338). [4543562] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2008.4543562