Resilience in Multirobot Multitarget Tracking With Unknown Number of Targets Through Reconfiguration

We address the problem of maintaining resource availability in a networked multirobot team performing distributed tracking of an unknown number of targets in a bounded environment. Robots are equipped with sensing and computational resources, enabling them to cooperatively track a set of targets using a distributed probability hypothesis density (PHD) filter. We use the trace of a robot's sensor measurement noise covariance matrix to quantify its sensing quality. While executing the tracking task, if a robot experiences sensor quality degradation, the team's communication network is reconfigured such that the robot with the faulty sensor may share information with other robots to improve the team's target-tracking ability without enforcing a large change in the number of active communication links. A central system monitor executes the network reconfiguration computations. We consider two different PHD fusion methods and propose four different mixed-integer semi-definite programming (MISDP) formulations (two formulations for each PHD fusion method) to accomplish our objective. All MISDP formulations are validated in simulation.

• Publication year

  2020

• Venue

  IEEE Transactions on Control of Network Systems

• Publication date

  2020-04-01

• Fields of study

  Computer Science, Engineering

• Identifiers
  DOI 10.1109/TCNS.2021.3059794arXiv 2004.07197
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

• Resilience by Reconfiguration: Exploiting Heterogeneity in Robot Teams

  2019influential reference
• Distributed Bernoulli Filtering for Target Detection and Tracking Based on Arithmetic Average Fusion

  2019cited by this paper
• Cardinality-Consensus-Based PHD Filtering for Distributed Multitarget Tracking

  2019cited by this paper
• Resilience in multi-robot target tracking through reconfiguration

  2019cited by this paper
• A Distributed Strategy for Target Tracking and Rendezvous Using UAVs Relying on Visual Information Only

  2018cited by this paper
• Fault Tolerant Control for Networked Mobile Robots

  2018cited by this paper
• Distributed Optimal Control of Sensor Networks for Dynamic Target Tracking

  2018cited by this paper
• Partial Consensus and Conservative Fusion of Gaussian Mixtures for Distributed PHD Fusion

  2017influential reference
• Distributed sensor fusion for RFS density with consideration of limited sensing ability

  2017cited by this paper
• A Generalized Reduced Gradient Method for the Optimal Control of Very-Large-Scale Robotic Systems

  2017cited by this paper
• Distributed fusion with PHD filter for multi-target tracking in asynchronous radar system

  2017cited by this paper
• Formations for Resilient Robot Teams

  2017cited by this paper
• Distributed multi-target search and tracking using the PHD filter

  2017cited by this paper
• Controllability and observability in complex networks – the effect of connection types

  2017cited by this paper
• A connectedness constraint for learning sparse graphs

  2017cited by this paper
• Asymptotic Network Robustness

  2017cited by this paper
• Crazyswarm: A large nano-quadcopter swarm

  2017cited by this paper
• The effect of communication topology on scalar field estimation by large networks with partially accessible measurements

  2017cited by this paper
• Information value in nonparametric Dirichlet-process Gaussian-process (DPGP) mixture models

  2016cited by this paper
• Dynamic Map Building and Localization : New Theoretical Foundations

  2015cited by this paper
• Observability in topology-constrained multi-robot target tracking

  2015cited by this paper
• Cooperative multi-robot control for target tracking with onboard sensing 1

  2015cited by this paper
• Generalized Labeled Multi-Bernoulli Approximation of Multi-Object Densities

  2014cited by this paper
• Products and Convolutions of Gaussian Probability Density Functions

  2013cited by this paper
• Consensus CPHD Filter for Distributed Multitarget Tracking

  2013influential reference
• Controllability Metrics, Limitations and Algorithms for Complex Networks

  2013cited by this paper
• On conservative fusion of information with unknown non-Gaussian dependence

  2012cited by this paper
• Distributed Data Fusion for Network-Centric Operations

  2012cited by this paper
• Collaborative target tracking using distributed Kalman filtering on mobile sensor networks

  2011cited by this paper
• Optimal network topology design in multi-agent systems for efficient average consensus

  2010cited by this paper
• Sensor faults: Detection methods and prevalence in real-world datasets

  2010cited by this paper
• A Kullback-Leibler View of Linear and Log-Linear Pools

  2009cited by this paper
• Data Association and Track Management for the Gaussian Mixture Probability Hypothesis Density Filter

  2009cited by this paper
• A Consistent Metric for Performance Evaluation of Multi-Object Filters

  2008cited by this paper
• Statistical Multisource-Multitarget Information Fusion

  2007cited by this paper
• The Gaussian Mixture Probability Hypothesis Density Filter

  2006cited by this paper
• An Empirical Study into the Use of Chernoff Information for Robust, Distributed Fusion of Gaussian Mixture Models

  2006influential reference
• SENSOR DEGRADATION DETECTION IN LINEAR SYSTEMS

  2006cited by this paper
• Probability hypothesis density filter for multitarget multisensor tracking

  2005cited by this paper
• Multitarget Bayes filtering via first-order multitarget moments

  2003influential reference
• Covariance consistency methods for fault-tolerant distributed data fusion

  2003cited by this paper
• Bayesian Multiple Target Tracking

  1999influential reference
• Linear Matrix Inequalities In System And Control Theory

  1998cited by this paper
• Linear Matrix Inequalities in System and Control Theory

  1994cited by this paper

• Accelerated Optimized Topology Design in Affine Formation Control Using ADMM

  2025cites this paper
• Failure-Aware Multi-Robot Coordination for Resilient and Adaptive Target Tracking

  2025cites this paper
• Global Task-aware Fault Detection, Identification For On-Orbit Multi-Spacecraft Collaborative Inspection

  2025cites this paper
• A resilient active target defense strategy using multiple UAVs with nonlinear dynamics

  2025cites this paper
• Communication and Motion Coordination Awareness in Networked Aerial Robot Teams

  2025cites this paper
• Resilient and Adaptive Replanning for Multi-Robot Target Tracking with Sensing and Communication Danger Zones

  2024cites this paper
• Resilient Multi-Robot Multi-Target Tracking

  2024cites this paper
• Resilient Multi-Robot Target Tracking with Sensing and Communication Danger Zones

  2024cites this paper
• Heterogeneous Gaussian and Student’s t Fusion for Distributed Target Tracking

  2024cites this paper
• Distributed Multirobot Multitarget Tracking Using Heterogeneous Limited-Range Sensors

  2023cites this paper
• Multi-Agent Exploration-Based Search for an Unknown Number of Targets

  2023cites this paper
• Optimization of Rotor Arrangement for a Multirotor UAV with Robustness against a Single Rotor-Failure

  2023cites this paper
• Information Gain-weighted Multi-sensor Arithmetic Average Fusion Kalman Filtering

  2023cites this paper
• Resilience of Time-Varying Communication Graphs for Consensus of Changing Sets of Computing Agents

  2023cites this paper
• Finite mixture modeling in time series: A survey of Bayesian filters and fusion approaches

  2023cites this paper
• Multisensor Suboptimal Fusion Student's $t$ Filter

  2022cites this paper
• Predefined-time robust control with formation constraints and saturated controls

  2022cites this paper
• Best fit of mixture for multi-sensor poisson multi-Bernoulli mixture filtering

  2022cites this paper
• Arithmetic Average Density Fusion—Part II: Unified Derivation for Unlabeled and Labeled RFS Fusion

  2022cites this paper
• A Hierarchical Coordination Framework for Joint Perception-Action Tasks in Composite Robot Teams

  2022cites this paper
• SMA-NBO: A Sequential Multi-Agent Planning with Nominal Belief-State Optimization in Target Tracking

  2022cites this paper
• Rank-in-Rank Loss for Person Re-identification

  2022cites this paper
• Robust CPHD Fusion for Distributed Multitarget Tracking Using Asynchronous Sensors

  2021cites this paper
• Recent advances in multisensor multitarget tracking using random finite set

  2021cites this paper
• Some Statistic and Information-theoretic Results On Arithmetic Average Fusion

  2021cites this paper
• Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems

  2021cites this paper
• The Future Workplace: A Symbiotic System of Systems Environment

  2021cites this paper
• Some Statistic and Information-theoretic Results on Arithmetic Average Density Fusion

  2021cites this paper
• Symbiotic System of Systems Design for Safe and Resilient Autonomous Robotics in Offshore Wind Farms

  2021cites this paper