ICRA'09 Paper Abstract


Paper FrD13.4

Frew, Eric W. (University of Colorado)

Combining Area Patrol, Perimeter Surveillance, and Target Tracking Using Ordered Upwind Methods

Scheduled for presentation during the Regular Sessions "Distributed Robot Systems - IV" (FrD13), Friday, May 15, 2009, 16:30−16:50, Room: 505

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Distributed Robot Systems, Surveillance Systems, Aerial Robotics


The problems of area patrol, perimeter surveillance, and target tracking are combined into a single reconnaissance framework. This integration is based on application of ordered upwind methods to track the propagation of the target position boundary. The ordered upwind methods provide a computationally efficient method for computing the target track boundary over a discretized nonuniform mesh of the environment. Planning methods based on the target track boundary are discussed. Simulation results demonstrate the use of ordered upwind methods for reconnaissance tasks.



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