Abstract
This study focuses on the problem of multi-robot simultaneous localization and object tracking (MR-SLOT), which involves the collaborative effort of multiple mobile robots tracking a moving object on a plain. To address this challenge, this paper introduces a fully decentralized approach based on the extended Kalman filter and covariance intersection (CI), denoted as CI-SLOT. In the proposed approach, each robot can precisely track the robot-to-object correlations. Moreover information exchange occurs solely among one-hop communicating robots, and each robot only maintains the latest estimate of the object and its pose. The simulation results have shown that the performances of CI-SLOT are better than those of the state-of-the-art approaches of comparable processing and communication costs.
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