Adaptive target tracking with a mixed team of static and mobile guards: deployment and activation strategies

  • Guillermo J. Laguna
  • Sourabh BhattacharyaEmail author
Part of the following topical collections:
  1. Special Issue on Multi-Robot and Multi-Agent Systems


This work explores a variation of the art gallery problem in which a team of static and mobile guards track a mobile intruder with unknown maximum speed. We consider the special case when the mobile guards are restricted to move along the diagonals of a polygonal environment. First, we present an algorithm to identify candidate vertices in a polygon at which either static guards can be placed or they can serve as an endpoint of the segment on which mobile guards move. Next, we present a technique to partition the environment based on the triangulation of the environment, and allocate guards to each partition to track the intruder. The allocation strategy leads to a classification of the mobile guards based on their task and coordination requirements. Finally, we present a strategy to activate/deactivate static guards based on the speed of the intruder. Simulation results are presented to validate the efficacy of the proposed techniques.


Target tracking Mobile coverage Sensor networks 



This work was supported by the NSF Grant IIS-1816343.


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Authors and Affiliations

  1. 1.Department of Mechanical EngineeringIowa State UniversityAmesUSA
  2. 2.Department of Computer ScienceIowa State UniversityAmesUSA

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