Active Target Tracking With Self-Triggered Communications in Multi-Robot Teams

摘要

We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario, where a team of robots is allowed to move on the boundary of the environment. Their goal is to seek a formation so as to best track a target moving in the interior of the environment. The robots are capable of measuring distances to the target. Decentralized control strategies have been proposed in the past, which guarantees that the robots asymptotically converge to the optimal formation. However, existing methods require that the robots exchange information with their neighbors at all time steps. Instead, we focus on decentralized strategies to reduce the amount of communication among robots. We propose a self-triggered communication strategy that decides when a particular robot should seek up-to-date information from its neighbors and when it is safe to operate with possibly outdated information. We prove that this strategy converges asymptotically to the desired formation when the target is stationary. For the case of a mobile target, we use a decentralized Kalman filter with covariance intersection to share the beliefs of neighboring robots. We evaluate all the approaches through simulations and a proof-of-concept experiment.Note to Practitioners-We study the problem of tracking a target using a team of coordinating robots. Target tracking problems are prevalent in a number of applications, such as co-robots, surveillance, and wildlife monitoring. Coordination between robots typically requires communication amongst them. Most multi-robot coordination algorithms implicitly assume that the robots can communicate at all time steps. Communication can be a considerable source of energy consumption, especially for small robots. Furthermore, communicating at all time steps may be redundant in many settings. With this as motivation, we propose an algorithm where the robots do not necessarily communicate at all times and instead choose specific triggering time instances to share information with their neighbors. Despite the limitation of limited communication, we show that the algorithm converges to the optimal configuration both in theory as well as in simulations.