Persistent surveillance using mutually-visible robotic formations

Ethan A. Stump; Brian M. Sadler

doi:10.1117/12.851148

12 May 2010 Persistent surveillance using mutually-visible robotic formations

Ethan A. Stump, Brian M. Sadler

Proceedings Volume 7694, Ground/Air Multi-Sensor Interoperability, Integration, and Networking for Persistent ISR; 76940C (2010) https://doi.org/10.1117/12.851148
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States

Abstract

We consider the problem of deploying mobile robots to create a mutually-visible formation between stationary and mobile targets in a known environment. A mutually-visible formation is a placement where each agent or target is connected to all others through a sequence of visibility pairings. Mutual visibility enhances radio communications links, and enables other modalities such as optical communications. We discretize the environment in a manner conducive to visibility calculations, and, as targets shift, we use dynamic programming to find formations that preserve the visibility topology and minimize movement.

Citation Download Citation

Ethan A. Stump and Brian M. Sadler "Persistent surveillance using mutually-visible robotic formations", Proc. SPIE 7694, Ground/Air Multi-Sensor Interoperability, Integration, and Networking for Persistent ISR, 76940C (12 May 2010); https://doi.org/10.1117/12.851148

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