Cooperative Target Tracking by Multiagent Camera Sensor Networks via Gaussian Process
In this paper, we present learning-based robust cooperative control for camera sensor networks. The dynamics of each camera agent with the pan and tilt mechanism is modeled by the Euler-Lagrange equation. In the target tracking problem, the modeling errors caused by high nonlinearity of camera syste...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9816072/ |
| _version_ | 1811292262272860160 |
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| author | Takashi Adachi Naoki Hayashi Shigemasa Takai |
| author_facet | Takashi Adachi Naoki Hayashi Shigemasa Takai |
| author_sort | Takashi Adachi |
| collection | DOAJ |
| description | In this paper, we present learning-based robust cooperative control for camera sensor networks. The dynamics of each camera agent with the pan and tilt mechanism is modeled by the Euler-Lagrange equation. In the target tracking problem, the modeling errors caused by high nonlinearity of camera system dynamics and changes in the tracking environment may incur significant deterioration of tracking performance. To address this, we propose a distributed control method based on the Gaussian process regression to compensate for the model uncertainty of the dynamics of the camera sensor network. We consider the error dynamics of the multiagent Euler-Lagrange system to evaluate the tracking errors of the camera agents. We show that the ultimate boundedness of the error dynamics is achieved by the proposed learning-based method. A numerical example confirms that the proposed control law enables each camera agent to track the targets with a bounded tracking error in the presence of model uncertainty. |
| first_indexed | 2024-04-13T04:42:47Z |
| format | Article |
| id | doaj.art-e0c9988042124370bd4df8f89326af7e |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-13T04:42:47Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-e0c9988042124370bd4df8f89326af7e2022-12-22T03:01:57ZengIEEEIEEE Access2169-35362022-01-0110717177172710.1109/ACCESS.2022.31888579816072Cooperative Target Tracking by Multiagent Camera Sensor Networks via Gaussian ProcessTakashi Adachi0Naoki Hayashi1https://orcid.org/0000-0003-2518-1250Shigemasa Takai2https://orcid.org/0000-0003-0165-4623Graduate School of Engineering, Osaka University, Suita, Osaka, JapanGraduate School of Engineering Science, Osaka University, Toyonaka, Osaka, JapanGraduate School of Engineering, Osaka University, Suita, Osaka, JapanIn this paper, we present learning-based robust cooperative control for camera sensor networks. The dynamics of each camera agent with the pan and tilt mechanism is modeled by the Euler-Lagrange equation. In the target tracking problem, the modeling errors caused by high nonlinearity of camera system dynamics and changes in the tracking environment may incur significant deterioration of tracking performance. To address this, we propose a distributed control method based on the Gaussian process regression to compensate for the model uncertainty of the dynamics of the camera sensor network. We consider the error dynamics of the multiagent Euler-Lagrange system to evaluate the tracking errors of the camera agents. We show that the ultimate boundedness of the error dynamics is achieved by the proposed learning-based method. A numerical example confirms that the proposed control law enables each camera agent to track the targets with a bounded tracking error in the presence of model uncertainty.https://ieeexplore.ieee.org/document/9816072/Multiagent systemcamera sensor networkGaussian process |
| spellingShingle | Takashi Adachi Naoki Hayashi Shigemasa Takai Cooperative Target Tracking by Multiagent Camera Sensor Networks via Gaussian Process IEEE Access Multiagent system camera sensor network Gaussian process |
| title | Cooperative Target Tracking by Multiagent Camera Sensor Networks via Gaussian Process |
| title_full | Cooperative Target Tracking by Multiagent Camera Sensor Networks via Gaussian Process |
| title_fullStr | Cooperative Target Tracking by Multiagent Camera Sensor Networks via Gaussian Process |
| title_full_unstemmed | Cooperative Target Tracking by Multiagent Camera Sensor Networks via Gaussian Process |
| title_short | Cooperative Target Tracking by Multiagent Camera Sensor Networks via Gaussian Process |
| title_sort | cooperative target tracking by multiagent camera sensor networks via gaussian process |
| topic | Multiagent system camera sensor network Gaussian process |
| url | https://ieeexplore.ieee.org/document/9816072/ |
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