Distributed sensor fusion for object tracking

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Conference Proceeding
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2006, 4020 LNAI pp. 504 - 511
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In a dynamic situation like robot soccer any individual player can only observe a limited portion of their environment at any given time. As such to develop strategies based upon planning and cooperation between different players it is imperative that they be able to share information which may or may not be in any individual player's field of vision. In this paper we propose a method for multi-agent cooperation for perception based upon the Extended Kalman Filter (EKF) which enables players to track objects absent from their field of vision and also to improve the accuracy of position and velocity estimates of objects in their field of vision. © Springer-Verlag Berlin Heidelberg 2006.
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