Hybrid system for target tracking in triangulation graphs

Laguna, Guillermo J.; Bhattacharya, Sourabh

doi:10.1109/icra.2017.7989102

Cited by 4 publications

(6 citation statements)

References 9 publications

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“…For an intruder with finite speed, fewer guards can be deployed to track the intruder. In Laguna et al (2016); Laguna and Bhattacharya (2017), we proposed a tracking strategy that deploys at most n 4 diagonal guards in a polygon with n sides, and derived the maximum speed of the intruder for which the tracking strategy works for a fixed speed of the guards. All the aforementioned works assume that the maximum speed of the intruder is known a priori which is a severe limitation since knowledge about the adversary is limited in surveillance applications.…”

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confidence: 99%

Adaptive target tracking with a mixed team of static and mobile guards: deployment and activation strategies

Laguna

Bhattacharya

2019

Auton Robot

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This work explores a variation of the art gallery problem in which a team of static and mobile guards track a mobile intruder with unknown maximum speed. First, we present an algorithm to identify candidate vertices in a polygon at which either static guards can be placed or they can serve as endpoints of the trajectory of mobile guards. Based on the triangulation of the polygon and the deployment of the guards we propose an allocation technique for the guards, such that each one of them is assigned to guard a subregion of the environment when the intruder is inside it. The allocation strategy leads to a classification of the guards based on their task and coordination requirements. Next, we present an activation strategy for the static guards that is adaptive to the instantaneous speed of the intruder. The deployment and the activation technique guarantee that a variable speed intruder is successfully tracked. Simulation results are presented to validate the efficacy of the proposed techniques.

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confidence: 99%

Adaptive target tracking with a mixed team of static and mobile guards: deployment and activation strategies

Laguna

Bhattacharya

2019

Auton Robot

Self Cite

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“…Consider t 1 which can be covered by g 1 and g 2 . We find the path p 2 1 between s j int (1) and s j int (2) shown as a green segment. Therefore, r 1,2 = l(p 2 1 )/(l 1 + l 2 ).…”

Section: Computation Of Maximum Speed Ratiomentioning

confidence: 95%

“…3. The problem of finding the minimum number of sensors required to track an intruder is NPhard Laguna and Bhattacharya (2017). To the best of our knowledge, this is the first work that provides results on the sufficient number of sensors required to track an intruder in an environment without trivially covering it, thereby, reducing the bound from n/3 .…”

Section: Main Contributionsmentioning

confidence: 99%

“…In order to define Û 1 R (2), either g 1 or g 3 needs to have a region assigned to it in the triangles shared between it and g 2 . In Figure 2), which in turn is used to define Û 2 R (2) using (2.5). Once that all the guards in G(T j ) have been assigned to a region R α j (i), it is possible to determine if no allocation was found for the given r. By definition, a region R 1 j (i) inside…”

Section: Sequential Computation Of Partitionsmentioning

confidence: 99%

“…In the example of Figure 2.7, Algorithm 4 arbitrarily selects g 1 and the endpoint that is a vertex of T 4 is chosen as v 1 (1). Thus, the edges e 4,2 (2) and e 4,3 (2) are deleted from G # , and G ready = {g 1 }, so Algorithm 2 can continue. Next g 1 is chosen, and Algorithm 3 finds Since the number of edges in G # that can be associated to a given guard is upper bounded by…”

Section: Algorithm 2 Genallocmentioning

confidence: 99%

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