Team for Research in
Ubiquitous Secure Technology

Citation
Songhwai Oh, Luca Schenato, Phoebus Chen, Shankar Sastry. "Tracking and coordination of multiple agents using sensor networks: system design, algorithms and experiments". Proceedings of the IEEE, 95(1):234-254, 2007.

Abstract
This paper considers the problem of pursuit evasion games (PEGs), where the objective of a group of pursuers is to chase and capture a group of evaders in minimum time with the aid of a sensor network. The main challenge in developing a real-time control system using sensor networks is the inconsistency in sensor measurements due to packet loss, communication delay, and false detections. We address this challenge by developing a real-time hierarchical control system, named LochNess, which decouples the estimation of evader states from the control of pursuers via multiple layers of data fusion. The multiple layers of data fusion convert noisy, inconsistent, and bursty sensor measurements into a consistent set of fused measurements. Three novel algorithms are developed for LochNess: multi-sensor fusion, hierarchical multi-target tracking, and multi-agent coordination algorithms. The multi-sensor fusion algorithm converts correlated sensor measurements into position estimates, the hierarchical multi-target tracking algorithm based on Markov chain Monte Carlo data association (MCMCDA) tracks an unknown number of targets, and the multi-agent coordination algorithm coordinates pursuers to chase and capture evaders using robust minimum-time control. The control system LochNess is evaluated in simulation and successfully demonstrated using a large-scale outdoor sensor network deployment.

Electronic downloads

• http://www.eecs.berkeley.edu/~sho/papers/pieee_sn.html

• HTML

  Songhwai Oh, Luca Schenato, Phoebus Chen, Shankar Sastry.
  <a href="http://www.truststc.org/pubs/244.html"
  >Tracking and coordination of multiple agents using
  sensor networks: system design, algorithms and
  experiments</a>, <i>Proceedings of the
  IEEE</i>, 95(1):234-254,  2007.

• Plain text

  Songhwai Oh, Luca Schenato, Phoebus Chen, Shankar Sastry.
  "Tracking and coordination of multiple agents using
  sensor networks: system design, algorithms and
  experiments". <i>Proceedings of the
  IEEE</i>, 95(1):234-254,  2007.

• BibTeX

  @article{OhSchenatoChenSastry07_TrackingCoordinationOfMultipleAgentsUsingSensorNetworks,
      author = {Songhwai Oh and Luca Schenato and Phoebus Chen and
                Shankar Sastry},
      title = {Tracking and coordination of multiple agents using
                sensor networks: system design, algorithms and
                experiments},
      journal = {Proceedings of the IEEE},
      volume = {95},
      number = {1},
      pages = {234-254},
      year = {2007},
      abstract = {This paper considers the problem of pursuit
                evasion games (PEGs), where the objective of a
                group of pursuers is to chase and capture a group
                of evaders in minimum time with the aid of a
                sensor network. The main challenge in developing a
                real-time control system using sensor networks is
                the inconsistency in sensor measurements due to
                packet loss, communication delay, and false
                detections. We address this challenge by
                developing a real-time hierarchical control
                system, named LochNess, which decouples the
                estimation of evader states from the control of
                pursuers via multiple layers of data fusion. The
                multiple layers of data fusion convert noisy,
                inconsistent, and bursty sensor measurements into
                a consistent set of fused measurements. Three
                novel algorithms are developed for LochNess:
                multi-sensor fusion, hierarchical multi-target
                tracking, and multi-agent coordination algorithms.
                The multi-sensor fusion algorithm converts
                correlated sensor measurements into position
                estimates, the hierarchical multi-target tracking
                algorithm based on Markov chain Monte Carlo data
                association (MCMCDA) tracks an unknown number of
                targets, and the multi-agent coordination
                algorithm coordinates pursuers to chase and
                capture evaders using robust minimum-time control.
                The control system LochNess is evaluated in
                simulation and successfully demonstrated using a
                large-scale outdoor sensor network deployment.},
      URL = {http://www.truststc.org/pubs/244.html}
  }
  

Posted by Songhwai Oh on 24 Mar 2007.
For additional information, see the Publications FAQ or contact webmaster at www truststc org.