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Optimal positioning of surveillance UGVs
2008
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
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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)
2008
2008 47th IEEE Conference on Decision and Control
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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]
2009
Lecture notes in control and information sciences
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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
2008
IFAC Proceedings Volumes
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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]
2019
arXiv
pre-print
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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
2016
Jurnal Teknologi
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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]
2013
Intelligent Systems, Control and Automation: Science and Engineering
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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
2013
Procedia Computer Science
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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
2019
Proceedings of the Estonian Academy of Sciences
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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]
2016
arXiv
pre-print
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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
2019
MATEC Web of Conferences
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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
2018
IEEE Transactions on Aerospace and Electronic Systems
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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]
2022
arXiv
pre-print
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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]
2014
Handbook of Unmanned Aerial Vehicles
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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
2013
Emerging Technologies in Security and Defence; and Quantum Security II; and Unmanned Sensor Systems X
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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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