![](bg6.png)
and #2 are shown in Figs. 10 and 11, respectively.
Table 1 shows the tracking duration.
These results show that cooperative tracking
using two robots can provide better tracking
accuracy than individual tracking using either robot
#1 or #2.
5 CONCLUSIONS
This paper presented a laser-based method for
tracking of moving objects (people and vehicles)
that uses multiple mobile robots located near one
another. The size and pose (position and velocity) of
the objects were estimated, and the method was
validated by an experiment of people and vehicle
tracking using two robots.
In our method, robots find moving objects in
their sensing area and transmit object information to
a central server, which then estimates the size and
pose for each moving object. Such a server-client
system is weak from the view-point of system
dependability and computational burden. Future
research will be directed to the design of a
decentralized architecture in moving-object tracking.
ACKNOWLEDGEMENTS
This study was partially supported by Scientific
Grants #23560305 and #26420213, Japan Society
for the Promotion of Science (JSPS).
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