Effective Motion Tracking Using Known and Learned Actuation Models

摘要

Robots need to track objects. We consider tasks where robots actuate on the target that is visually tracked. Object tracking efficiency completely depends on the accuracy of the motion model and of the sensory information. The motion model of the target becomes particularly complex in the presence of multiple agents acting on a mobile target. We assume that the tracked object is actuated by a team of agents, composing of robots and possibly humans. Robots know their own actions, and team members are collaborating according to coordination plans and communicated information. The thesis shows that using a previously known or learned action model of the single robot or team members improves the efficiency of tracking.