Counting moving bodies using sparse sensor beams

Lawrence H. Erickson, Jingjin Yu, Yaonan Huang, Steven M. Lavalle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


This paper examines the problem of determining the distribution of a number of indistinguishable moving bodies located in regions separated by sensor beams that can detect whether a body moves across them. We characterize the conditions under which an exact distribution of bodies can be determined, and compute bounds on the expected number of sensor observations required to determine this exact distribution for a certain movement model of the bodies.

Original languageEnglish (US)
Title of host publicationSpringer Tracts in Advanced Robotics
EditorsEmilio Frazzoli, Nicholas Roy, Tomas Lozano-Perez, Daniela Rus
PublisherSpringer Verlag
Number of pages16
ISBN (Print)9783642362781
StatePublished - 2013
Externally publishedYes
Event10th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2012 - Cambridge, United States
Duration: Jun 13 2012Jun 15 2012

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Other10th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2012
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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