Tracking and data association
Shortest watchman routes in simple polygons
Discrete & Computational Geometry
Searching for a mobile intruder in a polygonal region
SIAM Journal on Computing
Improved algorithms for synchronizing computer network clocks
IEEE/ACM Transactions on Networking (TON)
Visibility-based Pursuit-evasion with Limited Field of View
International Journal of Robotics Research
Pursuit-evasion on trees by robot teams
IEEE Transactions on Robotics
A cell decomposition approach to visibility-based pursuit evasion among obstacles
International Journal of Robotics Research
Roadmap-Based level clearing of buildings
MIG'11 Proceedings of the 4th international conference on Motion in Games
Dynamic target tracking and observing in a mobile sensor network
Robotics and Autonomous Systems
ICAISC'12 Proceedings of the 11th international conference on Artificial Intelligence and Soft Computing - Volume Part II
Market-based framework for mobile surveillance systems
AIS'12 Proceedings of the Third international conference on Autonomous and Intelligent Systems
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This paper presents a distributed control algorithm for multi-target surveillance by multiple robots. Robots equipped with sensors and communication devices discover and track as many evasive targets as possible in an open region. The algorithm utilizes information from sensors, communication, and a mechanism to predict the minimum time before a robot loses a target. Workload is shared locally between robots using a greedy assignment of targets. Across long distances robots cooperate through explicit communication. The approach is coined Behavioral Cooperative Multi-robot Observation of Multiple Moving Targets. A formal representation of the proposed algorithm as well as proofs of performance guarantee are provided. Extensive simulations confirm the theoretical results in practice.