Research

Autonomous racing control is a challenging research problem as vehicles are pushed to their limits of handling to achieve an optimal lap time; therefore, vehicles exhibit highly nonlinear and complex dynamics.

In this paper, we study the problem of multi-robot active joint localization and target tracking (AJLATT), where a team of robots mounted with sensors of limited field of view actively estimate their own and the target’s states cooperatively.

We aim to solve a multi-robot active joint localization and target tracking (AJLATT) problem, where a team of robots with sensors of limited field of view cooperate with other robots to actively plan their individual motions so as to achieve better performance for self-localization and target tracking while avoiding collisions with their team members, the target, and the environment.