Hybrid system for target tracking in triangulation graphs

We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. The guards are deployed based on the strategy initially proposed in [1] which restricts them to move along a specific diagonal...

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Bibliographic Details
Published in2017 IEEE International Conference on Robotics and Automation (ICRA) pp. 839 - 844
Main Authors Laguna, Guillermo J., Bhattacharya, Sourabh
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2017
Subjects
Automata
Mathematical model
Mobile communication
Observers
Reachability analysis
Target tracking
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Summary:We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. The guards are deployed based on the strategy initially proposed in [1] which restricts them to move along a specific diagonal within the environment. However, the intruder can move freely within the environment. We define critical regions to generate event-triggered strategies for the guards. Additionally, a hybrid automaton is designed to model the problem, and sufficient conditions are presented for [n/4] guards for persistent surveillance.
DOI:10.1109/ICRA.2017.7989102