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Sensors 2014, 14(2), 2911-2943;

Detection and Tracking of Dynamic Objects by Using a Multirobot System: Application to Critical Infrastructures Surveillance

Robotics and Cybernetics Research Group. Centre for Automation and Robotics (CAR UPM-CSIC), Universidad Politécnica de Madrid, C/ José Gutierrez Abascal, 2, Madrid 28006, Spain
Author to whom correspondence should be addressed.
Received: 12 December 2013 / Revised: 23 January 2014 / Accepted: 27 January 2014 / Published: 12 February 2014
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain 2013)
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The detection and tracking of mobile objects (DATMO) is progressively gaining importance for security and surveillance applications. This article proposes a set of new algorithms and procedures for detecting and tracking mobile objects by robots that work collaboratively as part of a multirobot system. These surveillance algorithms are conceived of to work with data provided by long distance range sensors and are intended for highly reliable object detection in wide outdoor environments. Contrary to most common approaches, in which detection and tracking are done by an integrated procedure, the approach proposed here relies on a modular structure, in which detection and tracking are carried out independently, and the latter might accept input data from different detection algorithms. Two movement detection algorithms have been developed for the detection of dynamic objects by using both static and/or mobile robots. The solution to the overall problem is based on the use of a Kalman filter to predict the next state of each tracked object. Additionally, new tracking algorithms capable of combining dynamic objects lists coming from either one or various sources complete the solution. The complementary performance of the separated modular structure for detection and identification is evaluated and, finally, a selection of test examples discussed. View Full-Text
Keywords: DATMO; multirobot; critical infrastructure surveillance DATMO; multirobot; critical infrastructure surveillance
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).
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Rodríguez-Canosa, G.; del Cerro Giner, J.; Barrientos, A. Detection and Tracking of Dynamic Objects by Using a Multirobot System: Application to Critical Infrastructures Surveillance. Sensors 2014, 14, 2911-2943.

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