Lab Papers (GRASP)

Document Type

Conference Paper

Date of this Version



Reprinted from:
Robert Ghrist, Yuliy Baryshnikov. Target Enumeration via Integration over Planar Sensor Networks. Proceedings of Robotics: Science and Systems IV, Zurich, Switzerland, June 25-27, 2008.


We solve the problem of counting the total number of observable targets (persons, vehicles, etc.) in a region based on local counts performed by sensors which measure only the number of targets nearby and neither their identities nor any positional information. This theory is robust and accommodates ad hoc sensor networks and mobile robot sensors alike.



Date Posted: 17 September 2009