This work focuses on the problem of designing surveillance trajectories for a network of autonomous cameras. As performance criterion we consider the worst-case detection time of static intruders. First, we represent the environment by means of a robotic roadmap. We show that optimal trajectories can be designed via a continuous graph partitioning problem. This minimization problem is convex and not dierentiable. Second, we derive an auxiliary convex and dierentiable minimization problem whose minimizer provides a solution to the original problem. Third and nally, we develop three distributed algorithms, for the cameras to partition the roadmap, and, consequently, synchronize along a trajectory with minimum worst-case detection time. Dierent communication protocols are used for the three algorithms.

Continuous Graph Partitioning for Camera Network Surveillance / Borra, Domenica; Pasqualetti, F.; Bullo, F.. - ELETTRONICO. - (2012). ((Intervento presentato al convegno 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys 2012) tenutosi a Santa Barbara, CA, US nel September 14-15, 2012.

Continuous Graph Partitioning for Camera Network Surveillance

BORRA, DOMENICA;
2012

Abstract

This work focuses on the problem of designing surveillance trajectories for a network of autonomous cameras. As performance criterion we consider the worst-case detection time of static intruders. First, we represent the environment by means of a robotic roadmap. We show that optimal trajectories can be designed via a continuous graph partitioning problem. This minimization problem is convex and not dierentiable. Second, we derive an auxiliary convex and dierentiable minimization problem whose minimizer provides a solution to the original problem. Third and nally, we develop three distributed algorithms, for the cameras to partition the roadmap, and, consequently, synchronize along a trajectory with minimum worst-case detection time. Dierent communication protocols are used for the three algorithms.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2522437
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