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Maintaining visibility of a moving target at a fixed distance: the case of observer bounded speed

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4 Author(s)
Murrieta, R. ; Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA ; Sarmientoy, A. ; Bhattacharya, S. ; Hutchinson, S.A.

This work addresses the problem of computing the motions of a robot observer in order to maintain visibility of a moving target at a fixed surveillance distance. In this paper, we deal specifically with the situation in which the observer has bounded velocity. We give necessary conditions for the existence of a surveillance strategy and give an algorithm that generates surveillance strategies.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:1 )

Date of Conference:

26 April-1 May 2004