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12 May 2010 Persistent surveillance using mutually-visible robotic formations
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We consider the problem of deploying mobile robots to create a mutually-visible formation between stationary and mobile targets in a known environment. A mutually-visible formation is a placement where each agent or target is connected to all others through a sequence of visibility pairings. Mutual visibility enhances radio communications links, and enables other modalities such as optical communications. We discretize the environment in a manner conducive to visibility calculations, and, as targets shift, we use dynamic programming to find formations that preserve the visibility topology and minimize movement.
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Ethan A. Stump and Brian M. Sadler "Persistent surveillance using mutually-visible robotic formations", Proc. SPIE 7694, Ground/Air Multi-Sensor Interoperability, Integration, and Networking for Persistent ISR, 76940C (12 May 2010);

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