Abstract
This paper examines the problem of detecting intruders in large multiply-connected environments with multiple robots and limited range sensors. We divide the problem into two sub-problems: 1) partitioning of the environment and 2) a new problem called weighted graph clearing. We reduce the latter to weighted tree clearing and present a solution for finding paths for the robot team that ensure the detection of all intruders with a proven upper bound on the number of robots needed. This is followed by a practical performance analysis.
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References
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© 2007 Springer London
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Kolling, A., Carpin, S. (2007). Detecting Intruders in Complex Environments with Limited Range Mobile Sensors. In: Kozłowski, K. (eds) Robot Motion and Control 2007. Lecture Notes in Control and Information Sciences, vol 360. Springer, London. https://doi.org/10.1007/978-1-84628-974-3_38
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DOI: https://doi.org/10.1007/978-1-84628-974-3_38
Publisher Name: Springer, London
Print ISBN: 978-1-84628-973-6
Online ISBN: 978-1-84628-974-3
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