Communication constrained multi-UGV surveillance
2008 (English)In: IFAC World Congress, Seoul, Korea, 2008Conference paper (Refereed)
This paper addresses the problem of connectivity constrained surveillance of a given polyhedral area with obstacles using a group of Unmanned Ground Vehicles (UGVs). The considered communication restrictions may involve both line-of-sight constraints and limited sensor range constraints. In this paper, the focus is on dynamic information graphs, G, which are required to be kept recurrently connected. The main motivation for introducing this weaker notion of connectivity is security and surveillance applications where the sentry vehicles may have to split temporary in order to complete the given mission efficiently but are required to establish contact recurrently in order to exchange information or to make sure that all units are intact and well-functioning. From a theoretical standpoint, recurrent connectivity is shown to be sufficient for exponential convergence of consensus filters for the collected sensor data.
Place, publisher, year, edition, pages
Seoul, Korea, 2008.
IdentifiersURN: urn:nbn:se:kth:diva-10060OAI: oai:DiVA.org:kth-10060DiVA: diva2:202391
17th IFAC World Congress, July 6-11, 2008
QC 201110102009-03-102009-03-102011-11-21Bibliographically approved