{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,2]],"date-time":"2025-12-02T11:29:51Z","timestamp":1764674991344,"version":"3.46.0"},"reference-count":53,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2025,12,2]],"date-time":"2025-12-02T00:00:00Z","timestamp":1764633600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002910","name":"F\u00e9d\u00e9ration Wallonie-Bruxelles","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100002910","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002661","name":"Fonds De La Recherche Scientifique - FNRS","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100002661","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>Swarm perception enables a robot swarm to collectively sense and interpret the environment by integrating sensory inputs from individual robots. In this study, we explore its application to people re-identification, a critical task in multi-camera tracking scenarios. We propose a decentralized, feature-based perception method that allows robots to re-identify people across different viewpoints. Our approach combines detection, tracking, re-identification, and clustering algorithms, enhanced by a model trained to refine extracted features. Robots dynamically share and fuse data in a decentralized manner, ensuring that collected information remains up to date. Simulation results, measured by the cumulative matching characteristics (CMC) curve, mean average precision (mAP), and average cluster purity, show that decentralized communication significantly improves performance, enabling robots to outperform static cameras without communication and, in some cases, even centralized communication. Furthermore, the findings suggest a trade-off between the amount of data shared and the consistency of the Re-ID.<\/jats:p>","DOI":"10.3389\/frobt.2025.1671952","type":"journal-article","created":{"date-parts":[[2025,12,2]],"date-time":"2025-12-02T11:25:49Z","timestamp":1764674749000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Assessing the impact of feature communication in swarm perception for people re-identification"],"prefix":"10.3389","volume":"12","author":[{"given":"Miquel","family":"Kegeleirs","sequence":"first","affiliation":[]},{"given":"Ilyes","family":"Gharbi","sequence":"additional","affiliation":[]},{"given":"Marios","family":"Kaplanis","sequence":"additional","affiliation":[]},{"given":"Lorenzo","family":"Garattoni","sequence":"additional","affiliation":[]},{"given":"Gianpiero","family":"Francesca","sequence":"additional","affiliation":[]},{"given":"Mauro","family":"Birattari","sequence":"additional","affiliation":[]}],"member":"1965","published-online":{"date-parts":[[2025,12,2]]},"reference":[{"key":"B1","unstructured":"BoT-SORT: robust associations multi-pedestrian tracking\n          \n          \n            \n              Aharon\n              N.\n            \n            \n              Orfaig\n              R.\n            \n            \n              Bobrovsky\n              B.-Z.\n            \n          \n          \n          2022"},{"key":"B2","doi-asserted-by":"publisher","first-page":"126558","DOI":"10.1016\/j.neucom.2023.126558","article-title":"Multi-camera multi-object tracking: a review of current trends and future advances","volume":"552","author":"Amosa","year":"2023","journal-title":"Neurocomputing"},{"key":"B3","first-page":"1","article-title":"From swarm intelligence to swarm robotics","volume-title":"Sab 2004","author":"Beni","year":"2005"},{"key":"B4","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s11721-012-0075-2","article-title":"Swarm robotics: a review from the swarm engineering perspective","volume":"7","author":"Brambilla","year":"2013","journal-title":"Swarm Intell."},{"key":"B5","doi-asserted-by":"crossref","first-page":"425","DOI":"10.1109\/RCAR61438.2024.10671043","article-title":"Real-time person re-identification to improve human-robot interaction","volume-title":"2024 IEEE international conference on Real-time computing and robotics (RCAR)","author":"Carlsen","year":"2024"},{"key":"B6","first-page":"1335","article-title":"Person re-identification by multi-channel parts-based cnn with improved triplet loss function","volume-title":"Proceedings of the IEEE conference on computer vision and pattern recognition","author":"Cheng","year":"2016"},{"key":"B7","doi-asserted-by":"crossref","first-page":"215","DOI":"10.1007\/978-3-642-33765-9_16","article-title":"A unified framework for multi-target tracking and collective activity recognition","volume-title":"Computer Vision\u2013ECCV 2012","author":"Choi","year":"2012"},{"key":"B8","first-page":"185","article-title":"Random walks in swarm robotics: an experiment with Kilobots","volume-title":"Ants 2016","author":"Dimidov","year":"2016"},{"key":"B9","doi-asserted-by":"publisher","first-page":"1463","DOI":"10.4249\/scholarpedia.1463","article-title":"Swarm robotics","volume":"9","author":"Dorigo","year":"2014","journal-title":"Scholarpedia"},{"key":"B10","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1007\/s10846-007-9201-6","article-title":"Multi-camera human activity monitoring","volume":"52","author":"Fiore","year":"2008","journal-title":"J. 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