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Published at November 27

DMVC-Tracker: Distributed Multi-Agent Trajectory Planning for Target Tracking Using Dynamic Buffered Voronoi and Inter-Visibility Cells

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Released Date: November 27, 2024

Authors: Yunwoo Lee, Jungwon Park, H. Jin Kim

Arxiv: http://arxiv.org/abs/2411.18086v1

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Scenarios	Environments	Planner	Safety Metrics			Visibility Metrics
Scenarios	Environments	Planner	$\chi_{1}(t)$ (28a) [m]	$\chi_{2}(t)$ (28b) [m]	$\chi_{3}(t)$ (28c) [m]	$\phi_{1}(t)$ (28d) [m]	$\phi_{2}(t)$ (28e) [m]
Sc1	unstructured	proposed	0.609/0.132	0.561/0.727	0.215/0.359	0.202/0.609	0.290/0.727
Sc1	unstructured	baseline [21]	0.098/0.567	0.225/0.639	0.000/0.399	0.173/0.567	0.000/0.639
Sc2	dynamic	proposed	0.061/0.327	0.480/0.666	0.195/0.319	0.136/0.327	0.270/0.666
Sc3	unstructured	proposed	0.013/0.480	0.554/0.683	0.148/0.346	0.089/0.480	0.223/0.683
Sc4	dynamic	proposed	0.065/1.201	0.421/0.711	0.240/0.353	0.140/1.201	0.315/0.711