Collaborative patrol planning of mobile surveillance cameras for perfect observation of moving objects

Patrolling by mobile robots is an attractive option for enhancing the reliability of video surveillance systems; mobile robots can observe a wide area effectively during particular intervals, which helps in the early detection of fires and other unusual situations. Moreover, if mobile robots patrol so that anymoving objects cannot exist without being observed, such patrol can be helpful in detecting suspicious individuals. In this paper, we propose a method for determining the minimum number of mobile surveillance cameras and their patrol plans that can realize periodic observation of all regions and moving objects. We demonstrate that we can obtain short patrol courses to achieve reliablemonitoring in our experiments.