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  Ph.D. Projects (2004/2005)  
  Project abstracts can be viewed from the CD-ROM which is enclosed or the SMA website (http://www.sma.nus.edu.sg).  
     
  HPCES Programme IMST Programme MEBCS Programme CS Programme  
     
  CS Programme  
     
 
Target Tracking – Strategies and Applications
     
Student :
Jiang Xiaoxi
     
Thesis Advisor (Singapore) :
Asst Prof David Hsu
     
Thesis Advisor (MIT) :
Prof Leslie P. Kaelbling
Prof Tomas Lozano-Perez
     
 
 

Project Abstract:

Planning the motions of a mobile robot tracking a moving object (a target) in an obstacle-cluttered space is a challenging planning problem. The tracker must choose its path in order to keep the target, which moves among obstacles, inside its field of view. It must also avoid collision with the obstacles. Several algorithms for different problem cases in previous work are introduced. The tracking algorithm is used in our work for Elderly Care. What is special for this problem is that the robot does not always try to catch or follow the target based on the indoor using requirements. A decision-making algorithm is used to control the robot.

 
     
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