Cooperative Minimum Time Surveillance With Multiple Ground Vehicles

Author

Anisi, David A. ; Ögren, Petter ; Hu, Xiaoming

Author_Institution

Div. of Process Autom., ABB AS, Oslo, Norway

Volume

55

Issue

12

fYear

2010

Firstpage

2679

Lastpage

2691

Abstract

In this paper, we formulate and solve two different minimum time problems related to unmanned ground vehicle (UGV) surveillance. The first problem is the following. Given a set of surveillance UGVs and a polyhedral area, find waypoint-paths for all UGVs such that every point of the area is visible from a point on a path and such that the time for executing the search in parallel is minimized. Here, the sensors´ field of view are assumed to have a limited coverage range and be occluded by the obstacles.

Keywords

graph theory; mobile robots; multi-robot systems; path planning; remotely operated vehicles; sensors; surveillance; UGV surveillance; cooperative minimum time surveillance; information graph; multiple ground vehicle; polyhedral area; recurrent connectivity; sensor data; surveillance mission; unmanned ground vehicle surveillance; waypoint-path; Airports; Cameras; Convergence; Data security; Filters; Humans; Land vehicles; Monitoring; Power system security; Surveillance; Minimum time UGV surveillance problem (MTUSP); unmanned ground vehicle (UGV);

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2010.2047438

Filename

5444992