US 11,989,034 B2
Systems and methods for decentralized multi-target tracking with multiple robots using a PHD filter
Aniket Shirsat, Tempe, AZ (US); and Spring Berman, Scottsdale, AZ (US)
Assigned to Arizona Board of Regents on Behalf of Arizona State University, Tempe, AZ (US)
Filed by Aniket Shirsat, Tempe, AZ (US); and Spring Berman, Scottsdale, AZ (US)
Filed on Aug. 18, 2022, as Appl. No. 17/820,823.
Claims priority of provisional application 63/234,532, filed on Aug. 18, 2021.
Prior Publication US 2023/0082256 A1, Mar. 16, 2023
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0287 (2013.01) [G05D 1/00 (2013.01); G05D 1/104 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robot, comprising:
a mobility assembly, wherein the mobility assembly is configured to configured to move the robot to a position within a physical area in response to a positional control signal;
a sensor, wherein the sensor is operable to detect a target item as the robot moves within the physical area; and
a processor in communication with a memory, the memory including instructions which, when executed, cause the processor to:
generate a positional control signal to the mobility assembly based on a random walk strategy;
estimate a quantity of detected target items and a respective position of each detected target item within a field of view of the sensor of the robot using a Probability Hypothesis Density filter model; and
update a local estimate value of a quantity of detected target items and a respective position of each detected target item held by the robot in a renewal-reward process based on a local estimate value received from a second robot.