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

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