Multi-Robot Target Tracking with Sensing and Communication Danger Zones
arxiv(2024)
摘要
Multi-robot target tracking finds extensive applications in different
scenarios, such as environmental surveillance and wildfire management, which
require the robustness of the practical deployment of multi-robot systems in
uncertain and dangerous environments. Traditional approaches often focus on the
performance of tracking accuracy with no modeling and assumption of the
environments, neglecting potential environmental hazards which result in system
failures in real-world deployments. To address this challenge, we investigate
multi-robot target tracking in the adversarial environment considering sensing
and communication attacks with uncertainty. We design specific strategies to
avoid different danger zones and proposed a multi-agent tracking framework
under the perilous environment. We approximate the probabilistic constraints
and formulate practical optimization strategies to address computational
challenges efficiently. We evaluate the performance of our proposed methods in
simulations to demonstrate the ability of robots to adjust their risk-aware
behaviors under different levels of environmental uncertainty and risk
confidence. The proposed method is further validated via real-world robot
experiments where a team of drones successfully track dynamic ground robots
while being risk-aware of the sensing and/or communication danger zones.
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