Cooperative target tracking with multiple mobile robots

A method for a team of mobile robots to cooperatively track a n described. We address the main limitation of existing approaches N cases in which the target is not seen for long periods of time. A met hod represents the multi-modal uncertainty in the estimated pc a potential field guides the robots to visit as many particles as the: certainty in the environment and to prevent the uncertainty area fr is shown how this method can be used a.s a coordination strategy wl cooperatively minimize the uncertainty in the pose of a tracked t a ~ show there is a significant difference between coordinated and non-cc ing. The method has also been tested on real robots.