Abstract
This paper outlines an approach to the coordination of multiple mobile sensors for the surveillance of a single moving target. A real-time dispatching algorithm is used to select and position groups of sensors in response to the observed object motion. The aim is to provide robust, high-quality data while ensuring that the system can react to unexpected object manoeuvres. Sensors are assigned to collect data at specific points on the object trajectory. A dispatching strategy learned via reinforcement learning is used to control the sensor poses with respect to these points. In using the learned strategy, each sensor adopts an egocentric view of the system state to determine the most appropriate action. Simulations demonstrate the performance of the RL-based dispatcher, in comparison to similar static-sensor systems.
Original language | English |
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Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation 2004 |
Pages | 71-76 |
Number of pages | 6 |
Volume | 2004 |
Edition | 1 |
Publication status | Published - 5 Jul 2004 |
Externally published | Yes |
Event | IEEE International Conference on Robotics and Automation 2004 - New Orleans, United States of America Duration: 26 Apr 2004 → 1 May 2004 https://ieeexplore.ieee.org/xpl/conhome/9126/proceeding?isnumber=29020 (Proceedings) |
Publication series
Name | Proceedings - IEEE International Conference on Robotics and Automation |
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ISSN (Print) | 1050-4729 |
Conference
Conference | IEEE International Conference on Robotics and Automation 2004 |
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Abbreviated title | ICRA 2004 |
Country/Territory | United States of America |
City | New Orleans |
Period | 26/04/04 → 1/05/04 |
Internet address |