Distributed Sampling-Based Target Tracking

In the Active Information Acquisition framework, the objective is to compute control inputs so that a team of mobile robots will collaboratively minimize the accumulated uncertainty of a dynamic hidden state over an a priori unknown horizon. Surveillance, environmental monitoring, SLAM and target tracking are typical examples of this problem. In this project we shall derive a distributed sampling-based algorithm to solve several cases of target tracking. Extensive simulations will be provided that demonstrate the effectiveness of the proposed algorithm.

Skills: Algorithms, Path Planning, Python

Report available: here