Sciweavers

CDC
2010
IEEE

Adaptive-based, scalable design for autonomous multi-robot surveillance

13 years 1 months ago
Adaptive-based, scalable design for autonomous multi-robot surveillance
In this paper the problem of positioning a team of mobile robots for a surveillance task in a non-convex environment with obstacles is considered. The robots are equipped with global positioning capabilities (for instance they are equipped with GPS) and visual sensors able to monitor the surrounding environment. The goal is to maximize the area monitored by the team, by identifying the best configuration of the team members. Due to the non-convex nature of the problem, an analytical solution cannot be obtained. The proposed method is based on a new cognitive-based, adaptive optimization algorithm (CAO). This method allows getting coordinated and scalable controls to accomplish the task, even when the obstacles are unknown. Extensive simulations are presented to show the efficiency of the proposed approach.
Alessandro Renzaglia, Lefteris Doitsidis, Agostino
Added 13 May 2011
Updated 13 May 2011
Type Journal
Year 2010
Where CDC
Authors Alessandro Renzaglia, Lefteris Doitsidis, Agostino Martinelli, Elias B. Kosmatopoulos
Comments (0)