TY - GEN
T1 - Partial barrier coverage
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
AU - Kloder, Stephen
AU - Hutchinson, Seth
PY - 2008
Y1 - 2008
N2 - In this paper, we formalize the problem of partial barrier coverage, that is, the problem of using robot sensors (guards) to minimize the probability of undetected intrusion in a particular region by an intruder. We use ideas from noncooperative game theory together with previous results from complete barrier coverage - the problem of completely preventing undetected intrusion - to develop new methods that solve this problem for the specific case of bounded-range line-of-sight sensors in a two-dimensional polygonally-bounded region. Our solution constructs equilibrium strategies for the intruder and guards, and calculates the level of partial coverage.
AB - In this paper, we formalize the problem of partial barrier coverage, that is, the problem of using robot sensors (guards) to minimize the probability of undetected intrusion in a particular region by an intruder. We use ideas from noncooperative game theory together with previous results from complete barrier coverage - the problem of completely preventing undetected intrusion - to develop new methods that solve this problem for the specific case of bounded-range line-of-sight sensors in a two-dimensional polygonally-bounded region. Our solution constructs equilibrium strategies for the intruder and guards, and calculates the level of partial coverage.
UR - http://www.scopus.com/inward/record.url?scp=51649120908&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51649120908&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543615
DO - 10.1109/ROBOT.2008.4543615
M3 - Conference contribution
AN - SCOPUS:51649120908
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2671
EP - 2676
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -