The GRAPH-CLEAR problem: definition, theoretical properties and its connections to multirobot aided surveillance

In this paper we present a novel graph theoretic problem, called GRAPH-CLEAR, useful to model surveillance tasks where multiple robots are used to detect all possible intruders in a given indoor environment. We provide a formal definition of the problem and we investigate its basic theoretical prope...

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Bibliographic Details
Published in2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1003 - 1008
Main Authors Kolling, A., Carpin, S.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2007
Subjects
Indoor environments
Intelligent robots
Orbital robotics
Robot sensing systems
Sensor systems and applications
Surveillance
Testing
Tree graphs
USA Councils
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ISBN9781424409112
142440911X
ISSN2153-0858
DOI10.1109/IROS.2007.4399368

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Summary:In this paper we present a novel graph theoretic problem, called GRAPH-CLEAR, useful to model surveillance tasks where multiple robots are used to detect all possible intruders in a given indoor environment. We provide a formal definition of the problem and we investigate its basic theoretical properties, showing that the problem is NP-complete. We then present an algorithm to compute a strategy for the restriction of the problem to trees and present a method how to use this solution in applications. The method is then tested in simple simulations. GRAPH-CLEAR is useful to describe multirobot pursuit evasion games when robots have limited sensing capabilities, i.e. multiple agents are needed to perform basic patrolling operations.
ISBN:9781424409112
142440911X
ISSN:2153-0858
DOI:10.1109/IROS.2007.4399368