Reference : Optimal positioning of surveillance UGVs
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Multidisciplinary, general & others
http://hdl.handle.net/10993/20687
Optimal positioning of surveillance UGVs
English
Nilsson, U. []
Ögren, P. []
Thunberg, Johan mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
2008
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
IEEE
2539-2544
Yes
IEEE/RSJ International Conference on Intelligent Robots and Systems
22-26 September, 2008
Nice
France
[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 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.
http://hdl.handle.net/10993/20687
10.1109/IROS.2008.4650851

File(s) associated to this reference

Fulltext file(s):

FileCommentaryVersionSizeAccess
Limited access
Optimal Positioning of Surveillance UGVs.pdfPublisher postprint969.68 kBRequest a copy

Bookmark and Share SFX Query

All documents in ORBilu are protected by a user license.