liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Computing and Executing Strategies for Moving Target Search
University of Pittsburgh.
University of Freiburg.
University of Pittsburgh.
Carnegie Mellon University, Pittsburgh, PA.
2011 (English)In: IEEE Int. Conf. on Robotics and Automation (ICRA), IEEE , 2011, 4246-4253 p.Conference paper (Refereed)
Abstract [en]

We address the problem of searching for moving targets in large outdoor environments represented by height maps. To solve the problem we present a complete system that computes from an annotated height map a graph representation and search strategies based on worst-case assumptions about all targets. These strategies are then used to compute a schedule and task assignment for all agents. We improve the graph construction from previous work and for the first time present a method that computes a schedule to minimize the execution time. For this we consider travel times of agents determined by a path planner on the height map. We demonstrate the entire system in a real environment with an area of 700,000m2 in which eight human agents search for two intruders using mobile computing devices (iPads). To the best of our knowledge this is the first demonstration of a search system applied to such a large environment.

Place, publisher, year, edition, pages
IEEE , 2011. 4246-4253 p.
National Category
URN: urn:nbn:se:liu:diva-72522DOI: 10.1109/ICRA.2011.5980277OAI: diva2:459931
2011 IEEE International Conference on Robotics and Automation, Shanghai International Conference Center, May 9-13, 2011, Shanghai, China
Artificial Intelligence & Integrated Computer Systems
Available from: 2011-11-29 Created: 2011-11-28 Last updated: 2011-12-07Bibliographically approved

Open Access in DiVA

fulltext(1631 kB)150 downloads
File information
File name FULLTEXT02.pdfFile size 1631 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Other links

Publisher's full text

Search in DiVA

By author/editor
Kleiner, Alexander

Search outside of DiVA

GoogleGoogle Scholar
Total: 150 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 28 hits
ReferencesLink to record
Permanent link

Direct link