Optimal motion strategies based on critical events to maintain visibility of a moving target

Teja Muppirala, Seth Hutchinson, Rafael Murrieta-Cid

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we consider the surveillance problem of maintaining visibility at a fixed distance of a mobile evader using a mobile robot equipped with sensors. Optimal motion for the target to escape is found. Symmetrically, an optimal motion strategy for the observer to always maintain visibility of the evader is determined. The optimal motion strategies proposed in this paper are based on critical events. The critical events are defined with respect to the obstacles in the environment.

Original languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages3826-3831
Number of pages6
DOIs
StatePublished - 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period4/18/054/22/05

Keywords

  • Motion planning
  • Pursuit-evasion

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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