NDLI: Path Planning for Networked Robotic Surveillance

Content Provider	IEEE Xplore Digital Library
Author	Ghaffarkhah, A. Mostofi, Y.
Copyright Year	1991
Abstract	In this paper, we consider a robotic surveillance problem where a fixed remote station deploys a team of mobile robots to spatially explore a given workspace, detect an unknown number of static targets, and inform the remote station of their findings. We are interested in designing trajectories (local motion decisions) for the robots that minimize the probability of target detection error at the remote station, while satisfying the requirements on the connectivity of the robots to the remote station. We show how such a design is possible by co-optimization of sensing (information gathering) and communication (information exchange) when motion planning. We start by considering the case where the robots need to constantly update the remote station on the locations of the targets as they learn about the environment. For this case, we propose a communication-constrained motion planning approach for the robots. We next consider the case where the remote station only needs to be informed of the locations of the targets at the end of a given operation time. By building on our communication-constrained results, we propose a hybrid motion planning approach for this case. We consider realistic communication channels that experience path loss, shadowing and multipath fading in the paper. Then, our proposed communication-aware motion planning approaches evaluate the probability of connectivity at unvisited locations and integrate it with the sensing objectives of the robots. We mathematically characterize the asymptotic behavior of our motion planning approaches and discuss the underlying tradeoffs. We finally devise strategies to increase their robustness to multipath fading and other channel estimation uncertainties.
Sponsorship	IEEE Signal Processing Society
Starting Page	3560
Ending Page	3575
Page Count	16
File Size	3716020
File Format	PDF
ISSN	1053587X
Volume Number	60
Issue Number	7
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Planning Trajectory Robot kinematics Fading networked robotic surveillance Communication-aware motion planning mobile sensor networks
Content Type	Text
Resource Type	Article
Subject	Signal Processing Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

To Go or Not to Go: On Energy-Aware and Communication-Aware Robotic Operation

Stochastic Event Capture Using Mobile Sensors Subject to a Quality Metric

Communication-Aware Motion Planning in Mobile Networks

Persistent Robotic Tasks: Monitoring and Sweeping in Changing Environments

Algorithms for Cooperative Active Localization of Static Targets With Mobile Bearing Sensors Under Communication Constraints

Sensor-based path planning and motion control for a robotic system for roadway crack sealing

Motion planning for multitarget surveillance with mobile sensor agents

Physical Path Planning Using a Pervasive Embedded Network

Underwater Data Collection Using Robotic Sensor Networks

Path Planning for Networked Robotic Surveillance

Similar Documents

To Go or Not to Go: On Energy-Aware and Communication-Aware Robotic Operation

Stochastic Event Capture Using Mobile Sensors Subject to a Quality Metric

Communication-Aware Motion Planning in Mobile Networks

Persistent Robotic Tasks: Monitoring and Sweeping in Changing Environments

Algorithms for Cooperative Active Localization of Static Targets With Mobile Bearing Sensors Under Communication Constraints

Sensor-based path planning and motion control for a robotic system for roadway crack sealing

Motion planning for multitarget surveillance with mobile sensor agents

Physical Path Planning Using a Pervasive Embedded Network

Underwater Data Collection Using Robotic Sensor Networks

Path Planning for Networked Robotic Surveillance