Multi-Robot Target Tracking with Sensing and Communication Danger Zones

About

Authors: Jiazhen Liu*, Peihan Li*, Yuwei Wu, Gaurav S. Sukhatmem, and Vijay Kumar, and Lifeng Zhou

Video Links: Youtube

Related Paper: Jiazhen, Liu* Peihan Li*, Yuwei Wu, Gaurav S. Sukhatme, Vijay Kumar, and Lifeng Zhou. "Multi-Robot Target Tracking with Sensing and Communication Danger Zones." 2024 International Symposium on Distributed Autonomous Robotic Systems Preprint

@misc{liu2024multirobottargettrackingsensing,
      title={Multi-Robot Target Tracking with Sensing and Communication Danger Zones}, 
      author={Jiazhen Liu and Peihan Li and Yuwei Wu and Gaurav S. Sukhatme and Vijay Kumar and Lifeng Zhou},
      year={2024},
      eprint={2404.07880},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2404.07880}, 
}

Prerequisites

• ROS: Our framework has been tested in ROS Noetic.

• Forces Pro and Matlab: You can request an academic license from here.

Usage

• In the simulation, run 'main.m'.
• Parameters are in config.json. You can change robots' and targets' numbers, start positions, etc.
• Type I represents sensing danger zones and Type II represents communication danger zones. You can set the position and covariance.

Maintaince

For any technical issues, please contact Jiazhen Liu (jliu3103@gatech.edu).