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Towards Optimal Positioning of Surveillance UGVs
Department of Autonomous Systems Swedish Defence Research Agency.
Department of Autonomous Systems Swedish Defence Research Agency.
Swedish Defence Research Institute (FOI).
2009 (English)In: / [ed] Hirsch, MJ; Commander, CW; Pardalos, PM; Murphey, R, Springer Berlin/Heidelberg, 2009, 221-233 p.Conference paper (Refereed)
Abstract [en]

Unmanned Ground Vehicles (UGVs) equipped with surveillance cameras present a flexible complement to the numerous stationary sensors being used in security applications today. However, to take full advantage of the flexibility and speed offered by a group of UGV platforms, a fast way to compute desired camera locations to cover ail area or a set of buildings, e.g., in response to ail alarm, is needed. Building upon earlier results in terrain guarding and sensor placement we propose a way to find candidate guard positions that; satisfy a large set. of view angle and range constraints simulataneously. Since the original problem is NP-complete, we do riot seek to find the true optimal set of guard positions. Instead, a near optimal subset of the candidate points is chosen using a scheme with a known approximation ratio of O(log(n)). A number of examples are presented to illustrate the approach.

Place, publisher, year, edition, pages
Springer Berlin/Heidelberg, 2009. 221-233 p.
, Lecture Notes in Control and Information Sciences, ISSN 0170-8643 ; 381
National Category
Computer Vision and Robotics (Autonomous Systems)
URN: urn:nbn:se:kth:diva-57993DOI: 10.1007/978-3-540-88063-9_14ISI: 000265134800014ISBN: 978-3-540-88062-2OAI: diva2:472877
8th International Conference on Cooperative Control and Optimization, Gainesville, FL, JAN 30-FEB 01, 2008
QC 20120109Available from: 2012-01-04 Created: 2012-01-04 Last updated: 2012-01-09Bibliographically approved

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Thunberg, Johan
Computer Vision and Robotics (Autonomous Systems)

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