Optimal positioning of surveillance UGVs
(2008) International Conference on Intelligent Robots and Systems (IROS) 2008 p.2539-2544- 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 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... (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 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. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/a8125b50-43a1-4df8-966d-0b156851a263
- author
- Nilsson, Ulrik ; Ogren, Petter and Thunberg, Johan LU
- publishing date
- 2008
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
- pages
- 6 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- International Conference on Intelligent Robots and Systems (IROS) 2008
- conference location
- Nice, France
- conference dates
- 2008-09-22 - 2008-09-26
- external identifiers
-
- scopus:69549137049
- ISBN
- 978-1-4244-2057-5
- DOI
- 10.1109/IROS.2008.4650851
- language
- English
- LU publication?
- no
- id
- a8125b50-43a1-4df8-966d-0b156851a263
- date added to LUP
- 2024-09-05 14:16:33
- date last changed
- 2024-09-23 16:53:47
@inproceedings{a8125b50-43a1-4df8-966d-0b156851a263,
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 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.}},
author = {{Nilsson, Ulrik and Ogren, Petter and Thunberg, Johan}},
booktitle = {{2008 IEEE/RSJ International Conference on Intelligent Robots and Systems}},
isbn = {{978-1-4244-2057-5}},
language = {{eng}},
pages = {{2539--2544}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
title = {{Optimal positioning of surveillance UGVs}},
url = {{http://dx.doi.org/10.1109/IROS.2008.4650851}},
doi = {{10.1109/IROS.2008.4650851}},
year = {{2008}},
}