Path Planning for Networked Robotic Surveillance

A. Ghaffarkhah, Y. Mostofi
2012 IEEE Transactions on Signal Processing  
In this paper, we consider a robotic surveillance problem where a fixed remote station deploys a team of mobile robots to spatially explore a given workspace, detect an unknown number of static targets, and inform the remote station of their findings. We are interested in designing trajectories (local motion decisions) for the robots that minimize the probability of target detection error at the remote station, while satisfying the requirements on the connectivity of the robots to the remote
more » ... tion. We show how such a design is possible by co-optimization of sensing (information gathering) and communication (information exchange) when motion planning. We start by considering the case where the robots need to constantly update the remote station on the locations of the targets as they learn about the environment. For this case, we propose a communication-constrained motion planning approach for the robots. We next consider the case where the remote station only needs to be informed of the locations of the targets at the end of a given operation time. By building on our communication-constrained results, we propose a hybrid motion planning approach for this case. We consider realistic communication channels that experience path loss, shadowing and multipath fading in the paper. Then, our proposed communication-aware motion planning approaches evaluate the probability of connectivity at unvisited locations and integrate it with the sensing objectives of the robots. We mathematically characterize the asymptotic behavior of our motion planning approaches and discuss the underlying tradeoffs. We finally devise strategies to increase their robustness to multipath fading and other channel estimation uncertainties. Alireza Ghaffarkhah (S'12) received the B.S. and M.S. degrees in electrical engineering from Sharif University of Technology, Tehran, Iran, in 2005 and 2007, respectively. Since 2008, he has been working toward the Ph.D. degree in electrical and computer engineering at the University of New Mexico, Albuquerque. His current research interests include motion planning and control of robotic and mobile sensor networks, control and decision under communication constraints, and hardware/software design for robotic systems. Yasamin Mostofi (M'12) received the B.S. degree in electrical engineering from Sharif University of Technology, Tehran, Iran, in 1997, and the M.S. and Ph.D. degrees in the area of wireless communication systems from Stanford University, CA, in 1999 and 2004, respectively. She is currently an Assistant Professor with the Department of Electrical and Computer Engineering, University of New Mexico. Prior to that, she was a Postdoctoral Scholar in control and dynamical systems at the California Institute of Technology, Pasadena, from 2004 to 2006. Her current research lies at the intersection of the two areas of communications and control/robotics in mobile sensor networks. Current research projects include communication-aware navigation and decision making in robotic networks, compressive sensing and control, obstacle mapping, robotic routers, and cooperative information processing. Dr.
doi:10.1109/tsp.2012.2194706 fatcat:mgczpv4s7fegvjkr4dmkub3ooe