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Cooperative Minimum Time Surveillance With Multiple Ground Vehicles

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3 Author(s)
Anisi, D.A. ; Div. of Process Autom., ABB AS, Oslo, Norway ; Ogren, P. ; Xiaoming Hu

In this paper, we formulate and solve two different minimum time problems related to unmanned ground vehicle (UGV) surveillance. The first problem is the following. Given a set of surveillance UGVs and a polyhedral area, find waypoint-paths for all UGVs such that every point of the area is visible from a point on a path and such that the time for executing the search in parallel is minimized. Here, the sensors' field of view are assumed to have a limited coverage range and be occluded by the obstacles.

Published in:

Automatic Control, IEEE Transactions on  (Volume:55 ,  Issue: 12 )