TY - GEN
T1 - Optimal motion strategies based on critical events to maintain visibility of a moving target
AU - Muppirala, Teja
AU - Hutchinson, Seth
AU - Murrieta-Cid, Rafael
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
KW - Motion planning
KW - Pursuit-evasion
UR - http://www.scopus.com/inward/record.url?scp=33846152920&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33846152920&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2005.1570704
DO - 10.1109/ROBOT.2005.1570704
M3 - Conference contribution
AN - SCOPUS:33846152920
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3826
EP - 3831
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -