PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control (FCT PTDC/EEA-CRO/100692/2008) [Quoted from the project's wiki] Several robotic tasks require or benefit from the cooperation of multiple robots: transportation of large-size objects, large area coverage (e.g., for cleaning) or surveillance (e.g., for fire detection), pollutant plume tracking, or target detection and tracking, to name but a few. In this project, a novel active approach to cooperative perception through coordinated vehicle motion control is proposed. The vehicle formation geometry will change dynamically so as to optimize the accuracy of cooperative perception of a static or dynamic target by the formation vehicles. To achieve this, innovative decentralized low-communication formation full state estimation methods, and dynamic-goal-driven formation control, for cooperative target localization and tracking by decentralized fusion of the data measured by all the formation vehicles have been introduced.
http://mediawiki.isr.ist.utl.pt/wiki/PCMMC:_Perception-Driven_Coordinated_Multi-Robot_Motion_Control