Target Tracking Game
Multi-agent Visibility-based Target Tracking Game
In this project, we investigate the problem of visibility-based target tracking for a team of mobile observers trying to track a team of mobile targets. We consider the tracking strategies for a general environment including the presence of obstacles. Finally, the strategies presented accommodate an arbitrary number of observers or targets.
In this project, we investigate the problem of visibility-based target tracking for a team of mobile observers trying to track a team of mobile targets. We consider the tracking strategies for a general environment including the presence of obstacles. Finally, the strategies presented accommodate an arbitrary number of observers or targets.
![Picture](/uploads/4/6/1/1/46119383/proportional-risk.png?268)
In this paper, we address the problem of visibility-based target tracking for a team of mobile observers trying to track a team of mobile targets. Based on the results of previous work, the notion of pursuit fields around a single corner is introduced. We use the pursuit fields to generate navigation strategies for a single observer to track a single target in general environments. In order to tackle the case when more than one observer or target is present in the environment, we propose a two level hierarchical approach. At the upper level, the team of observers use a ranking and aggregation technique for allocating each target to an observer. At the lower level, each observer computes its navigation strategy based on the results of the single observer-single target problem, thereby, decomposing a large multi-agent problem into several 2-agent problems. Finally, we present a scalable algorithm that can accommodate an arbitrary number of observers and targets. The performance of this algorithm is evaluated based on simulation and implementation.
M. Zhang and S. Bhattacharya, Multi-agent Visibility Based Target Tracking Game. In International Symposium on Distributed Autonomous Robotic Systems, Pages 440-451, 2014.
M. Zhang and S. Bhattacharya, Multi-agent Visibility Based Target Tracking Game. In International Symposium on Distributed Autonomous Robotic Systems, Pages 440-451, 2014.
Social Network Target Tracking Game
In this project, we associate pursuit-evasion game with social network. The game presented is different from visibility-based case because the pursuer does not have any vision sensor on-board. Instead, it has Internet access for collecting information. We introduce the notion of common agent and further establish a search approach with assistance of local landmarks. The approach includes network evolution algorithm and image scanning algorithm, which are efficient to locate the evader. SURF detection and Dijkstra's algorithm are implemented to perform target recognition and navigation, respectively.
In this project, we associate pursuit-evasion game with social network. The game presented is different from visibility-based case because the pursuer does not have any vision sensor on-board. Instead, it has Internet access for collecting information. We introduce the notion of common agent and further establish a search approach with assistance of local landmarks. The approach includes network evolution algorithm and image scanning algorithm, which are efficient to locate the evader. SURF detection and Dijkstra's algorithm are implemented to perform target recognition and navigation, respectively.