This paper presents a concurrent region decomposition and allocation algorithm that solves the multi-MSA coordination problem within the context of multi-target tracking and surveillance missions. Our collaboration approach achieves favorable computational characteristics, compared to its alternatives, by taking advantage of a data structure we named region allocation tree and the recursive processing strategy it allows. The region allocation tree data structure identifies the candidate regions, organizes information pertaining to tracking uncertainties and mobile sensor agent assignments, and allows for region decomposition and allocation simultaneously in a single depth-first sweep. Our collaboration approach, here, is used in conjunction with a Bayesian tracking algorithm–as the decision making is carried out in the belief space. Our contributions are also located within the wider discourse on multi-robot coordination. The simulation results demonstrate the effectiveness of our multi-MSA coordination approach.
Journal of Intelligent & Robotic Systems – Springer Journals
Published: May 4, 2017
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