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Optimal positioning of surveillance UGVs

U. Nilsson, P. Ogren, J. Thunberg
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The second problem is how to find UGV positions such that a given set of walls are covered by the cameras while taking constraints in terms of zoom, range, resolution and field of view into account.  ...  Unmanned Ground Vehicles (UGVs) equipped with surveillance cameras present a flexible complement to the numerous stationary sensors being used in security applications today.  ...  The vertices of the corresponding optimal path are the UGV positions.  ... 
doi:10.1109/iros.2008.4650851 dblp:conf/iros/NilssonOT08 fatcat:g5t5ogkgjzbnvdu5t2vos473c4

Cooperative surveillance missions with multiple unmanned ground vehicles (UGVs)

David A. Anisi, Petter Ogren, Xiaoming Hu, Therese Lindskog
2008 2008 47th IEEE Conference on Decision and Control  
This paper proposes an optimization based approach to multi-UGV surveillance.  ...  Given a set of surveillance UGVs and a polyhedral area, find waypointpaths for all UGVs such that every point of the area is visible from a point on a path and such that the time for executing the search  ...  The final positions of the UGVs are here free variables to be chosen by the optimization routine.  ... 
doi:10.1109/cdc.2008.4738930 dblp:conf/cdc/AnisiOHL08 fatcat:3ndqcmxfmrhktcqyoqu246zphq

Minimum Time Multi-UGV Surveillance [chapter]

David Anisi, Petter Ögren
2009 Lecture notes in control and information sciences  
This chapter addresses the problem of concurrent task and path planning for a number of surveillance Unmanned Ground Vehicles (UGVs) such that a user defined area of interest is covered by the UGVs' sensors  ...  Most results on static coverage use disjoint partitions of the search area, e.g., triangulation, to convert the continuous sensor positioning problem into a discrete one.  ...  Future research involves various interesting extensions of the current problem formulation, for instance, imposing path-wise constraints that require the induced information graph to be kept recurrently  ... 
doi:10.1007/978-3-540-88063-9_2 fatcat:nbdqc2c52fdexjadrtedsnpsly

Connectivity Constrained Multi-UGV Surveillance

David A. Anisi, Xiaoming Hu, Petter Ögren
2008 IFAC Proceedings Volumes  
This paper addresses the problem of connectivity constrained surveillance of a given polyhedral area with obstacles using a group of Unmanned Ground Vehicles (UGVs).  ...  The main motivation for introducing this weaker notion of connectivity is security and surveillance applications where the sentry vehicles may have to split temporary in order to complete the given mission  ...  The starting positions of the two UGVs are chosen randomly while the final positions have been optimized by Algorithm 2.  ... 
doi:10.3182/20080706-5-kr-1001.00098 fatcat:k34oupixojgizdaqyfsjalph3u

Persistent Surveillance With Energy-Constrained UAVs and Mobile Charging Stations [article]

Sepehr Seyedi, Yasin Yazicioglu, Derya Aksaray
2019 arXiv   pre-print
We address the problem of achieving persistent surveillance over an environment by using energy-constrained unmanned aerial vehicles (UAVs), which are supported by unmanned ground vehicles (UGVs) serving  ...  We introduce a scalable planning strategy based on 1) creating UAV- UGV teams, 2) decomposing the environment into optimal partitions that can be covered by any of the teams in a single fuel cycle, 3)  ...  Dynamics -At any time t, let the position of UAV i ∈ {1, . . . , n} be denoted by p A i (t) = [x A i (t), y A i (t), z A i (t)] ∈ Q and the position of UGV i ∈ {1, . . . , m} be denoted by p G i (t) =  ... 
arXiv:1908.05727v1 fatcat:5hsaypnyhrgbvjfw5ldq5tv65m

MODIFIED VIRTUAL SEMI-CIRCLE PATH PLANNING

R. N. Farah, Amira Shahirah, N. Irwan, R. L. Zuraida
2016 Jurnal Teknologi  
The UGV defined the environment by collecting the information to construct it path planning. The UGV in this research is known as Mobile Guard UGV-Truck for Surveillance (MG-TruckS).  ...  The challenging part of path planning for an Unmanned Ground Vehicle (UGV) is to conduct a reactive navigation. Reactive navigation is implemented to the sensor based UGV.  ...  Acknowledgement The authors would like to thank the Ministry of Higher Education of Malaysia under the fundamental research grant (RAGS) 2013-0011-1040-72 for financial support.  ... 
doi:10.11113/jt.v78.9026 fatcat:og5wepob6rbfpghl4s45brrj3m

Unmanned Aerial and Ground Vehicle Teams: Recent Work and Open Problems [chapter]

Steven L. Waslander
2013 Intelligent Systems, Control and Automation: Science and Engineering  
This chapter surveys recent efforts in unmanned air vehicle (UAV)/unmanned ground vehicle (UGV) team coordination and presents a description of open problems that remain to enable the many applications  ...  the ability to observe a target environment from all angles at once all add up to significant improvements in ability to search for and track targets, to inspect infrastructure, to persistently perform surveillance  ...  The UGV tracks the UAV relative position using vision data and a standard EKF, and the issue of time delay in the communication of position information arises as both vehicles need the relative position  ... 
doi:10.1007/978-4-431-54276-6_2 fatcat:dlmvhngytzbr3ca3fcqcuizvkm

DDDAMS-based Crowd Control via UAVs and UGVs

Zhenrui Wang, Mingyang Li, Amirreza M. Khaleghi, Dong Xu, Alfonso Lobos, Christopher Vo, Jyh-Ming Lien, Jian Liu, Young-Jun Son
2013 Procedia Computer Science  
Unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) collaboratively play central roles in intelligence gathering and control in urban/border surveillance and crowd control.  ...  Acknowledgements This work was supported by the Air Force Office of Scientific Research under FA9550-12-1-0238.  ...  surveillance and crowd control via UAVs and UGVs.  ... 
doi:10.1016/j.procs.2013.05.372 fatcat:unis26fqhfgzfbmrfzwpljimt4

Energy efficiency profiles for unmanned ground vehicles

E Väljaots, R Sell
2019 Proceedings of the Estonian Academy of Sciences  
Profiles are used for improving and optimizing the UGV design, control system, and comparison with each other.  ...  The paper investigates energy efficiency validation of unmanned ground vehicles (UGVs).  ...  The publication costs of this article were covered by the Estonian Academy of Sciences.  ... 
doi:10.3176/proc.2019.1.04 fatcat:tmesre457nfannjbbgzmmf7czi

Optimal Rendezvous Trajectory for Unmanned Aerial-Ground Vehicles [article]

Alessandro Rucco, PB Sujit, Pedro Aguiar, Joao Sousa, Fernando Pereira
2016 arXiv   pre-print
In order to accurately perform this task in the presence of wind disturbances, we need to determine an optimal trajectory in 3D taking UAV and UGV dynamics and kinematics into account.  ...  In this paper, we propose an optimal control formulation to generate a tunable UAV trajectory for rendezvous on a moving UGV taking wind disturbances into account.  ...  the kinematic position error of the UAV with respect to the UGV.  ... 
arXiv:1612.06100v2 fatcat:u6mc7ecrbja73cxtfiork4h4de

Hardware structure of a surveillance system for strategic objectives

Victor Constantin, Mihai Avram, Constantin Bucsan, Alexandru Vlasceanu, I. Bondrea, N.F. Cofaru, M. Inţă
2019 MATEC Web of Conferences  
The paper presents the hardware structure of a system for the surveillance of strategic objectives.  ...  The proposed system consists of several mobile robots patrolling along a perimeter, identifying potential intruders.  ...  In this article, some architectures of UAV and UGV based monitoring systems are presented. State of the art A surveillance structure based on UAV and UGV is presented in the paper [1] .  ... 
doi:10.1051/matecconf/201929008004 fatcat:syo2qi4nijdwdipjedgbtemhea

Optimal Rendezvous Trajectory for Unmanned Aerial-Ground Vehicles

Alessandro Rucco, P. B. Sujit, A. Pedro Aguiar, Joao Borges de Sousa, F. Lobo Pereira
2018 IEEE Transactions on Aerospace and Electronic Systems  
Cooperative UAV and UGV teams have been previously used for several surveillance applications.  ...  The initial position and orientation of the UGV are (x G , y G , z G ) = (0, 0, 0) and χ G = 0, respectively.  ... 
doi:10.1109/taes.2017.2767958 fatcat:siot2btpzrcwfomqlozhu3iwsi

Risk-aware UAV-UGV Rendezvous with Chance-Constrained Markov Decision Process [article]

Guangyao Shi, Nare Karapetyan, Ahmad Bilal Asghar, Jean-Paul Reddinger, James Dotterweich, James Humann, Pratap Tokekar
2022 arXiv   pre-print
We demonstrate the effectiveness of our formulation in the context of an Intelligence Surveillance and Reconnaissance (ISR) mission.  ...  We are interested in finding the optimal policy that decides when and where to rendezvous such that the expected travel time of the UAV is minimized and the probability of running out of charge is less  ...  set, which describes all possible positions of UAV in a task route; S g is the set of positions of UGV and this information is needed when we compute the rendezvous points; T g here is used as an un-ordered  ... 
arXiv:2204.04767v1 fatcat:ltvvsaoo25ddzaua4f7ctmus7i

Coordinated Convoy Protection Among Teams of Unmanned Aerial Vehicles [chapter]

Magnus Egerstedt, Amir Rahmani, Shin-Yih Young
2014 Handbook of Unmanned Aerial Vehicles  
This chapter investigates how to control and coordinate teams of Unmanned Aerial Vehicles (UAVs) to provide protection to convoys of ground vehicles.  ...  This is a rich yet canonical problem when coordinating multiple UAVs in that coordinated movements, task assignments, and resource balancing must all be performed for a successful completion of the mission  ...  This can be seen by drawing a circle of radius r using the position of the centroid of UGVs as the center.  ... 
doi:10.1007/978-90-481-9707-1_27 fatcat:wmbysldwt5a4bbjtqq2jat2n5i

Multi-modal target detection for autonomous wide area search and surveillance

Toby P. Breckon, Anna Gaszczak, Jiwan Han, Marcin L. Eichner, Stuart E. Barnes, Keith L. Lewis, Richard C. Hollins, Thomas J. Merlet, Mark T. Gruneisen, Miloslav Dusek, John G. Rarity, Edward M. Carapezza
2013 Emerging Technologies in Security and Defence; and Quantum Security II; and Unmanned Sensor Systems X  
Performance evaluation is presented at an episodic level with individual classifiers optimized for maximal each object of interest (vehicle/person) detection over a given search path/pattern of the environment  ...  Generalised wide are search and surveillance is a common-place tasking for multi-sensory equipped autonomous systems.  ...  The work presented in this paper was carried out by the authors at the School of Engineering, Cranfield University as part of the SATURN (  ... 
doi:10.1117/12.2028340 fatcat:z3i6cyg425fqljmnaighhn2pmy
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