A Scalable, Decentralised Large-Scale Network of Mobile Robots for Multi-target Tracking

  • Pham Duy Hung
  • Tran Quang Vinh
  • Trung Dung Ngo
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


A scalable, decentralised large-scale network of mobile robots for multi-target tracking is addressed in this paper. The decentralised control is originally built up by behavioural control but upgraded with decentralised robot control for connectivity maintenance and decentralised connectivity control for hierarchical connectivity removal, allowing the network expansion for tracking and occupying spatially distributed targets. The multi-target tracking algorithm guarantees that the mobile robots reach targets at very high efficiency, while at least an interconnectivity network connecting all the mobile robots is preserved for information exchange. The Monte Carlo simulation results illustrate characteristics of the decentralised control as well as its scalability through several experimental scenarios.


Decentralised robot control Decentralised connectivity control Multi-target tracking Scalability Connectivity maintenance Network preservation Hierarchical connectivity removal Multi-robot systems 



This research was supported in part by the University of Brunei Darrusalam (UBD/PNC2/2/RG/1(259)) and the Asia Research Centre and the Korea Foundation for Advanced Studies.

Supplementary material

327156_1_En_46_MOESM1_ESM.rtf (1 kb)
Supplementary material 1 (rtf 1 KB)


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Pham Duy Hung
    • 1
  • Tran Quang Vinh
    • 1
  • Trung Dung Ngo
    • 2
  1. 1.University of Engineering and TechnologyHanoiVietnam
  2. 2.The More Than One Robotics LaboratoryUniversity of Brunei DarussalamBruneiDarussalam

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