Towards optimal positioning of surveillance UGVs
(2009) 8th International Conference on Cooperative Control and Optimization In Lecture Notes in Control and Information Sciences 381. p.221-233- Abstract
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 an area or a set of buildings, e.g., in response to an 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 not seek to find the true optimal set of guard positions. Instead, a near optimal subset of the... (More)
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 an area or a set of buildings, e.g., in response to an 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 not 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.
(Less)
- author
- Nilsson, Ulrik ; Ögren, Petter and Thunberg, Johan LU
- publishing date
- 2009
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Optimization and Cooperative Control Strategies : Proceedings of the 8th International Conference on Cooperative Control and Optimization - Proceedings of the 8th International Conference on Cooperative Control and Optimization
- series title
- Lecture Notes in Control and Information Sciences
- editor
- Hirsch, Michael ; Commander, Clayton ; Pardalos, Panos and Murphey, Robert
- volume
- 381
- pages
- 13 pages
- publisher
- Springer
- conference name
- 8th International Conference on Cooperative Control and Optimization
- conference location
- Gainsville, United States
- conference dates
- 2008-01-30 - 2008-02-01
- external identifiers
-
- scopus:54349093537
- ISSN
- 0170-8643
- ISBN
- 9783540880639
- 9783540880622
- DOI
- 10.1007/978-3-540-88063-9_14
- language
- English
- LU publication?
- no
- id
- 2130d7c6-79e5-4b84-b527-aec4e7bed5a6
- date added to LUP
- 2024-09-05 12:50:33
- date last changed
- 2024-09-23 16:31:49
@inproceedings{2130d7c6-79e5-4b84-b527-aec4e7bed5a6,
abstract = {{<p>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 an area or a set of buildings, e.g., in response to an 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 not 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.</p>}},
author = {{Nilsson, Ulrik and Ögren, Petter and Thunberg, Johan}},
booktitle = {{Optimization and Cooperative Control Strategies : Proceedings of the 8th International Conference on Cooperative Control and Optimization}},
editor = {{Hirsch, Michael and Commander, Clayton and Pardalos, Panos and Murphey, Robert}},
isbn = {{9783540880639}},
issn = {{0170-8643}},
language = {{eng}},
pages = {{221--233}},
publisher = {{Springer}},
series = {{Lecture Notes in Control and Information Sciences}},
title = {{Towards optimal positioning of surveillance UGVs}},
url = {{http://dx.doi.org/10.1007/978-3-540-88063-9_14}},
doi = {{10.1007/978-3-540-88063-9_14}},
volume = {{381}},
year = {{2009}},
}