NDLI: Covert Robotics: hiding in known environments

Content Provider	IEEE Xplore Digital Library
Author	Marzouqi, M. Jarvis, R.A.
Copyright Year	2004
Description	Author affiliation: Intelligent Robotics Res. Centre, Monash Univ., Melbourne, Vic., Australia (Marzouqi, M.; Jarvis, R.A.)
Abstract	This paper is an extension to a previous work on our research in path planning: Covert Robotics (Amrzouqi and Jarvis, 2003). In this paper, a new application is introduced where the aim is to allow a mobile robot in a known environment to escape the observation of moving sentries. Whether the initial sentries' locations are known or can be predicted, our hiding strategy insures the overall robot covertness for the longest possible time by planning a covert path to an appropriate hiding position in the environment. The Time-to-Exposure algorithm, that is introduced here, is our approach to achieve the hiding strategy. The algorithm gives a value for each free cell specifying the maximum guaranteed time before possible observation by one or more sentries. The same strategy has been tested on a different situation where the robot has continuous information about the moving sentries' locations. The hiding technique was tested using a simulator which shows promising results. A number of test cases are presented.
Starting Page	804
Ending Page	809
File Size	1104338
Page Count	6
File Format	PDF
ISBN	0780386450
DOI	10.1109/RAMECH.2004.1438021
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-12-01
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Mobile robots Intelligent robots Path planning Testing Orbital robotics Service robots Military computing Humans Strategic planning
Content Type	Text
Resource Type	Article

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