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Autonomous Robots
Erschienen in: Autonomous Robots 3-4/2020

04.02.2019

Adaptive target tracking with a mixed team of static and mobile guards: deployment and activation strategies

verfasst von: Guillermo J. Laguna, Sourabh Bhattacharya

Erschienen in: Autonomous Robots | Ausgabe 3-4/2020

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Abstract

This work explores a variation of the art gallery problem in which a team of static and mobile guards track a mobile intruder with unknown maximum speed. We consider the special case when the mobile guards are restricted to move along the diagonals of a polygonal environment. First, we present an algorithm to identify candidate vertices in a polygon at which either static guards can be placed or they can serve as an endpoint of the segment on which mobile guards move. Next, we present a technique to partition the environment based on the triangulation of the environment, and allocate guards to each partition to track the intruder. The allocation strategy leads to a classification of the mobile guards based on their task and coordination requirements. Finally, we present a strategy to activate/deactivate static guards based on the speed of the intruder. Simulation results are presented to validate the efficacy of the proposed techniques.
Vorheriger Artikel Distributed multi-target search and tracking using the PHD filter
Nächster Artikel Air-ground cooperative topometric mapping of traversable ground

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Fußnoten
1
In a triangulation graph all the faces are triangles.
 
2
A triangulation graph G is said to be dominated by a set of vertices\(S_c\) if at least one vertex of each triangle in T(G) is a vertex in \(S_c\).
 
3
A triangulation graph G is said to be dominated by a set of diagonals\(S_h\) if at least one vertex of each triangle in T(G) is an endpoint of a diagonal in \(S_h\).
 
4
A diagonal is said to be incident to a vertex if the vertex is an endpoint of the diagonal.
 
5
We say that a guard \(g_k \in S_g\backslash \{g_i\}\) is a neighbor of \(g_i\) if \(T(i) \cap T(k) \ne \emptyset \).
 
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Metadaten
Titel
Adaptive target tracking with a mixed team of static and mobile guards: deployment and activation strategies
verfasst von
Guillermo J. Laguna
Sourabh Bhattacharya
Publikationsdatum
04.02.2019
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 3-4/2020
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-019-09833-8

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