Detecting intruders in complex environments with limited range mobile sensors
نویسندگان
چکیده
This paper examines the problem of detecting intruders in large multiplyconnected 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 second to a 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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