Title :
Maintaining visibility of a moving target at a fixed distance: the case of observer bounded speed
Author :
Murrieta, R. ; Sarmiento, Alejandro ; Bhattacharya, Surya ; Hutchinson, Seth A.
Author_Institution :
Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA
fDate :
26 April-1 May 2004
Abstract :
This work addresses the problem of computing the motions of a robot observer in order to maintain visibility of a moving target at a fixed surveillance distance. In this paper, we deal specifically with the situation in which the observer has bounded velocity. We give necessary conditions for the existence of a surveillance strategy and give an algorithm that generates surveillance strategies.
Keywords :
mobile robots; path planning; robot vision; surveillance; fixed surveillance distance; robot motion; robot observer; surveillance strategy; Computer aided software engineering; Control systems; Delay; Mobile robots; Motion control; Motion planning; Paper technology; Surveillance; Target tracking; Velocity control;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307195