NEST Final Experiment, 2005

On August 30, 2005, we have successfully demonstrated multiple-target tracking and pursuit evasion games using a sensor network as a part of the NEST Final Experiment.

News

A Nest of Sensors, Berkeley Engineering Lab Notes, Vol 5(9), October 2005

Goals

  • Track an unknown number of multiple targets using a sensor network of binary sensors without classification information
  • Coordinate multiple pursuers to chase and capture multiple evaders in minimum time using a sensor network


Sensor

A Trio node (shown left) contains Telos Rev B mote and a solar rechargeable power unit and it is covered by an outdoor enclosure for long-term deployment. The Trio sensor board provides passive infrared (PIR), acoustic, and magnetic sensing capabilities. Since PIR has the longest sensing range, it is chosen to be used in the demonstration.

Deployment

A total of 557 Trio nodes were deployed at Richmond Field Station and 144 nodes were allotted for the multiple-target tracking demo. At the time of the demo, 6 nodes (out of 144 nodes) were malfunctioning and did not report any detections.

Movie, pictures and screenshots

For more technical details about the algorithms used in the experiments, please refer the following references:

[1] Songhwai Oh, Luca Schenato, Phoebus Chen, and Shankar Sastry, "Tracking and coordination of multiple agents using sensor networks: system design, algorithms and experiments," Proceedings of the IEEE, vol. 95, no. 1, pp. 234-254, Jan. 2007.

[2] Songhwai Oh, Luca Schenato, and Shankar Sastry, "A Hierarchical Multiple-Target Tracking Algorithm for Sensor Networks," in Proc. of the International Conference on Robotics and Automation (ICRA), Barcelona, Spain, April 2005.

[3] Luca Schenato, Songhwai Oh, and Shankar Sastry, "Swarm Coordination for Pursuit Evasion Games using Sensor Networks," in Proc. of the International Conference on Robotics and Automation (ICRA), Barcelona, Spain, April 2005.

Photo albums

Copyright © 2005 Songhwai Oh