13 April 2018 Algorithm for covert convoy of a moving target using a group of autonomous robots
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Proceedings Volume 10696, Tenth International Conference on Machine Vision (ICMV 2017); 106960J (2018) https://doi.org/10.1117/12.2309541
Event: Tenth International Conference on Machine Vision, 2017, Vienna, Austria
An important application of autonomous robot systems is to substitute human personnel in dangerous environments to reduce their involvement and subsequent risk on human lives. In this paper we solve the problem of covertly convoying a civilian in a dangerous area with a group of unmanned ground vehicles (UGVs) using social potential fields. The novelty of our work lies in the usage of UGVs as compared to the unmanned aerial vehicles typically employed for this task in the approaches described in literature. Additionally, in our paper we assume that the group of UGVs should simultaneously solve the problem of patrolling to detect intruders on the area. We develop a simulation system to test our algorithms, provide numerical results and give recommendations on how to tune the potentials governing robots’ behaviour to prioritize between patrolling and convoying tasks.
© (2018) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Igor Polyakov, Igor Polyakov, Evgeny Shvets, Evgeny Shvets, } "Algorithm for covert convoy of a moving target using a group of autonomous robots", Proc. SPIE 10696, Tenth International Conference on Machine Vision (ICMV 2017), 106960J (13 April 2018); doi: 10.1117/12.2309541; https://doi.org/10.1117/12.2309541


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