Title :
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
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);
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2010.2047438
