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NSF grant on distributed multi-robot joint localization and tracking

Professor Wei Ren received a National Science Foundation (NSF) grant on distributed multi-robot joint localization and tracking. In applications such as disaster response, a network of mobile autonomous robots collectively tracks a subject over a wide area in an intermittently GPS-denied environment. As the subject and the robots move in and out of observation and communication range, each robot in the network needs to propagate estimates of position, velocity, and orientation for both itself and the subject, based on noisy measurements. This project aims to address distributed joint localization and tracking for multi-robot networks through local cooperation under local sensing and communication constraints with theoretical guarantees.