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The Center for Control, Dynamical Systems, and Computation University of California at Santa Barbara
 

Summary: The Center for Control, Dynamical Systems, and Computation
University of California at Santa Barbara
Spring 2009 Seminar Series
Presents
Cooperative intruder detection by multiple robots with
limited range
Stefano Carpin
University of California, Merced
Monday, June 15, 2009 2:00 - 3:00 PM ESB 2001
Abstract:
We consider the problem of detecting all intruders in bounded multiply connected environments by us-
ing a team of cooperative mobile robots equipped with limited range sensors. The emphasis of this re-
search is on finding solving strategies requiring the least number of robots. The question is attacked in-
troducing a novel graph theoretic abstraction dubbed Graph-Clear. Due to its NP-hardness, the special
case of environments modeled by trees will be presented, and an optimal polynomial time algorithm will
be sketched. Finally, it will be shown how Graph-Clear instances can be algorithmically extracted from
robot generated occupancy grid maps, and how the framework can be extended in order to account for
possibly faulty sensors whose performance can be probabilistically described.
About the Speaker:
Stefano Carpin received the "Laurea" degree and the PhD in Electrical Engineering and Computer

  

Source: Akhmedov, Azer - Department of Mathematics, University of California at Santa Barbara

 

Collections: Mathematics