Optimal positioning of surveillance UGVs
2008 (English)In: 2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS / [ed] Chatila, R; Kelly, A; Merlet, JP, New York: IEEE , 2008, 2539-2544 p.Conference paper (Refereed)
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 that cover or surround a set of buildings e.g., in response to an alarm, is needed. In this paper we focus on two problems. The first is how to create a line-of-sight perimeter around a given set of buildings with a minimal number of UGVs. The second problem is how to find UGV positions such that a given set of walls are covered by the cameras while taking constraints in terms of zoom, range, resolution and field of view into account. For the first problem we propose a polynomial time algorithm and for the second problem we extend our previous work to include zoom cameras and furthermore provide a theoretical analysis of the approach itself. A number of examples are presented to illustrate the two algorithms.
Place, publisher, year, edition, pages
New York: IEEE , 2008. 2539-2544 p.
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-58791DOI: 10.1109/IROS.2008.4650851ISI: 000259998201185ISBN: 978-1-4244-2057-5OAI: oai:DiVA.org:kth-58791DiVA: diva2:474081
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS; Nice; 22 September 2008 through 26 September 2008
QC 201201092012-01-092012-01-092012-01-09Bibliographically approved