TY - GEN
T1 - Barrier coverage for variable bounded-range line-of-sight guards
AU - Kloder, Stephen
AU - Hutchinson, Seth
PY - 2007
Y1 - 2007
N2 - In this paper, we formalize the problem of barrier coverage, that is, the problem of preventing undetected intrusion in a particular region using robot sensors. We solve the problem of finding the minimum-length barrier in the case of variable bounded-range line-of-sight sensors in a two-dimensional polygonally-bounded region. We do this by building a graph of candidate barriers that could potentially be in the minimum barrier. The dual of this graph shows the connectivity of the free space. We thus reduce the problem to the network flows maximum-flow/minimum-cut problem.
AB - In this paper, we formalize the problem of barrier coverage, that is, the problem of preventing undetected intrusion in a particular region using robot sensors. We solve the problem of finding the minimum-length barrier in the case of variable bounded-range line-of-sight sensors in a two-dimensional polygonally-bounded region. We do this by building a graph of candidate barriers that could potentially be in the minimum barrier. The dual of this graph shows the connectivity of the free space. We thus reduce the problem to the network flows maximum-flow/minimum-cut problem.
UR - http://www.scopus.com/inward/record.url?scp=36348946945&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36348946945&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.363818
DO - 10.1109/ROBOT.2007.363818
M3 - Conference contribution
AN - SCOPUS:36348946945
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 391
EP - 396
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -