Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Algorithms for the connectivity constrained unmanned ground vehicle surveillance problem
KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.). (Optimization and Systems Theory)
KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.).
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0002-7714-928X
2009 (Engelska)Ingår i: European Control Conference (ECC), Budapest, Hungary: EUCA , 2009Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

The Connectivity Constrained UGV Surveillance Problem (CUSP) considered in this paper is the following. Given a set of surveillance UGVs and a user defined area to be covered, find waypoint-paths such that; 1) the area is completely surveyed, 2) the time for performing the search is minimized and 3) the induced information graph is kept recurrently connected. It has previously been shown that the CUSP is NP-hard. This paper presents four different heuristic algorithms for solving the CUSP, namely, the Token Station Algorithm, the Stacking Algorithm, the Visibility Graph Algorithm and the Connectivity Primitive Algorithm. These algorithms are then compared by means of Monte Carlo simulations. The conclusions drawn are that the Token Station Algorithm provides the most optimal solutions, the Stacking Algorithm has the lowest computational complexity, while the Connectivity Primitive Algorithm provides the best trade-off between optimality and computational complexity for larger problem instances.

Ort, förlag, år, upplaga, sidor
Budapest, Hungary: EUCA , 2009.
Nyckelord [en]
Cooperative control, Optimization algorithms, Autonomous systems
Nationell ämneskategori
Naturvetenskap
Identifikatorer
URN: urn:nbn:se:kth:diva-10058OAI: oai:DiVA.org:kth-10058DiVA, id: diva2:202383
Konferens
European Control Conference 2009 - ECC’09. 23-26 August 2009, Budapest, Hungary
Anmärkning
QC 20111010Tillgänglig från: 2009-03-10 Skapad: 2009-03-10 Senast uppdaterad: 2011-11-21Bibliografiskt granskad

Open Access i DiVA

Fulltext saknas i DiVA

Sök vidare i DiVA

Av författaren/redaktören
Anisi, David A.Lindskog, ThereseÖgren, Petter
Av organisationen
Matematik (Inst.)Datorseende och robotik, CVAP
Naturvetenskap

Sök vidare utanför DiVA

GoogleGoogle Scholar

urn-nbn

Altmetricpoäng

urn-nbn
Totalt: 266 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf