ICRA'09 Paper Abstract


Paper FrC4.3

Bhattacharya, Binay (Simon Fraser University), Kameda, Tsunehiko (Simon Fraser University), Zhang, John Z. (University of Lethbridge)

Surveillance of a Polygonal Area by a Mobile Searcher from the Boundary: Searchability Testing

Scheduled for presentation during the Regular Sessions "Motion and Path Planning - III" (FrC4), Friday, May 15, 2009, 14:10−14:30, Room: 402

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 Motion and Path Planning, Planning, Scheduling and Coordination, Search and Rescue Robots


We study the surveillance of a polygonal area by a robot, which is equipped with a flashlight and moves along the polygon boundary. Its aim is to illuminate any intruder who can move faster than the moving flashlight beam, trying to avoid detection. We propose an O(n)-time algorithm for testing if it is possible for such a robot to always detect any intruder in a given polygon, where n is the number of vertices of the given polygon. This improves upon the best previous time complexity of O(nlog n).



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