The complexity of robot motion planning
The complexity of robot motion planning
Robot motion planning with many degrees of freedom and dynamic constraints
The fifth international symposium on Robotics research
Robot motion planning: a distributed representation approach
International Journal of Robotics Research
Searching for a mobile intruder in a polygonal region
SIAM Journal on Computing
Geometric computation for machine vision
Geometric computation for machine vision
Handbook of discrete and computational geometry
Robot Motion Planning
Fast Collision Detection Among Multiple Moving Spheres
IEEE Transactions on Visualization and Computer Graphics
The 4th International Symposium on Experimental Robotics IV
Visibility-Based Pursuit-Evasion in a Polygonal Environment
WADS '97 Proceedings of the 5th International Workshop on Algorithms and Data Structures
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Robotic Routers: Algorithms and Implementation
International Journal of Robotics Research
Following a large unpredictable group of targets among obstacles
MIG'10 Proceedings of the Third international conference on Motion in games
Tracking an omnidirectional evader with a differential drive robot
Autonomous Robots
Pipeline-Architecture Based Real-Time Active-Vision for Human-Action Recognition
Journal of Intelligent and Robotic Systems
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This paper deals with the surveillance problem of computing the motions of one or more robot observers in order to maintain visibility of one or several moving targets. The targets are assumed to move unpredictably, and the distribution of obstacles in the workspace is assumed to be known in advance. Our algorithm computes a motion strategy by maximizing the shortest distance to escape--the shortest distance the target must move to escape an observer's visibility region. Since this optimization problem is intractable, we use randomized methods to generate candidate surveillance paths for the observers. We have implemented our algorithms, and we provide experimental results using real mobile robots for the single target case, and simulation results for the case of two targets-two observers.