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Cooperative Surveillance Missions with Multiple Unmanned Ground Vehicles (UGVs)
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0002-7714-928X
KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.ORCID-id: 0000-0003-0177-1993
2008 (Engelska)Ingår i: 47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008), 2008, s. 2444-2449Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This paper proposes an optimization based approach to multi-UGV surveillance. In particular, we formulate both the minimum time- and connectivity constrained surveillance problems, show NP-hardness of them and propose decomposition techniques that allow us to solve them efficiently in an algorithmic manner. The minimum time formulation 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 sensor's field of view are assumed to be occluded by the obstacles and limited by a maximal sensor range. The connectivity constrained formulation extends the first by additionally requiring that the information graph induced by the sensors is connected at the time instants when the UGVs stop to perform the surveillance task. The second formulation is relevant to situation when mutual visibility is needed either to transmit the sensor data being gathered, or to protect the team from hostile persons trying to approach the stationary UGVs.

Ort, förlag, år, upplaga, sidor
2008. s. 2444-2449
Serie
IEEE Conference on Decision and Control, ISSN 0191-2216
Nationell ämneskategori
Elektroteknik och elektronik
Identifikatorer
URN: urn:nbn:se:kth:diva-121723ISI: 000307311602094Scopus ID: 2-s2.0-62949130905ISBN: 978-1-4244-3124-3 (tryckt)OAI: oai:DiVA.org:kth-121723DiVA, id: diva2:623678
Konferens
47th IEEE Conference on Decision and Control, DEC 09-11, 2008, Cancun, MEXICO
Anmärkning

QC 20130528

Tillgänglig från: 2013-05-28 Skapad: 2013-05-03 Senast uppdaterad: 2013-05-28Bibliografiskt granskad

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Ögren, PetterHu, Xiaoming
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