Title :
Motion planning for multitarget surveillance with mobile sensor agents
Author :
Tang, Zhijun ; Özgüner, Ümit
Author_Institution :
Dept. of Electr. & Comput. Eng., Ohio State Univ., Columbus, OH, USA
Abstract :
In the surveillance of multiple targets by mobile sensor agents (MSAs), system performance relies greatly on the motion-control strategy of the MSAs. This paper investigates the motion-planning problem for a limited resource of M MSAs in an environment of N targets (M\n\n\t\t
Keywords :
gradient methods; mobile robots; motion control; multi-robot systems; path planning; robot kinematics; sensors; surveillance; time optimal control; gradient approximation algorithm; mobile sensor agents; motion control; motion planning; multitarget surveillance; suboptimal loop path; time optimal loop path; Kinematics; Motion control; Motion planning; Motion-planning; Robot motion; Sensor systems; Surveillance; Target tracking; Turning; Unmanned aerial vehicles; Cooperative motion control; mobile sensor agents (MSAs); multi-MSA-multitarget (MMMT) tracking; robot motion planning; sensor management; uninhabited air vehicles (UAVs);
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2005.847567
