A generalized region-based approach for multi-target tracking in outdoor environments

We propose a generalized region-based approach to multi-target tracking, which is applicable to structured and unstructured environments. In this approach each robot constructs virtual regions based on the latest tracking information from other robots. Without pre-partitioned region information, each robot independently estimates the most urgent region that needs to be visited. The idea is for robots to coarsely estimate where the targets are present, and to navigate there. A multi-robot system to track moving objects outdoors has been designed using this approach in order to validate the idea. The performance of the individual motion trackers and the cooperative tracking behaviors is evaluated through experiments with different robot bases (a helicopter, a Segway RMP, and a Pioneer) and in simulation. Experimental results indicate that robots are able to distribute themselves appropriately in response to target movement.