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Proceedings Paper

Persistent surveillance using mutually-visible robotic formations
Author(s): Ethan A. Stump; Brian M. Sadler
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Paper 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.

Paper Details

Date Published: 12 May 2010
PDF: 9 pages
Proc. SPIE 7694, Ground/Air Multi-Sensor Interoperability, Integration, and Networking for Persistent ISR, 76940C (12 May 2010); doi: 10.1117/12.851148
Show Author Affiliations
Ethan A. Stump, U.S. Army Research Lab. (United States)
Brian M. Sadler, U.S. Army Research Lab. (United States)


Published in SPIE Proceedings Vol. 7694:
Ground/Air Multi-Sensor Interoperability, Integration, and Networking for Persistent ISR
Michael A. Kolodny, Editor(s)

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