1Multi-Robot Cooperative Object Tracking Based on Particle Filters

Abstract — This article presents a cooperative approach for tracking a moving object by a team of mobile robots equipped with sensors, in a highly dynamic environment. The tracker’s core is a particle filter, modified to handle, within a single unified framework, the problem of complete or partial occlusion for some of the involved mobile sensors, as well as inconsistent estimates in the global frame among sensors, due to observation errors and/or self-localization uncertainty. We present results supporting our approach by applying it to a team of real soccer robots tracking a soccer ball. I. INTRODUCTION AND RELATED WORK This paper deals with cooperative tracking of an object by a team of robots. Object tracking is a field of research with multiple techniques being researched and developed extensively [1]. In recent years RoboCup Soccer has laid dow