Resilience in multi-robot target tracking through reconfiguration
Ragesh K. Ramachandran,Nicole Fronda,Gaurav S. Sukhatme,Ragesh K. Ramachandran,Nicole Fronda,Gaurav S. Sukhatme
We address the problem of maintaining resource availability in a networked multi-robot system performing distributed target tracking. In our model, robots are equipped with sensing and computational resources enabling them to track a target's position using a Distributed Kalman Filter (DKF). We use the trace of each robot's sensor measurement noise covariance matrix as a measure of sensing quality...
