Adaptive-based, Scalable Design for Autonomous Multi-Robot Surveillance
Identifieur interne : 000A60 ( Main/Exploration ); précédent : 000A59; suivant : 000A61Adaptive-based, Scalable Design for Autonomous Multi-Robot Surveillance
Auteurs : Alessandro Renzaglia [France] ; Lefteris Doitsidis [Grèce] ; Agostino Martinelli [France] ; Elias Kosmatopoulos [Grèce]Source :
Descripteurs français
Abstract
In this paper the problem of positioning a team of mobile robots for a surveillance task in a non-convex environment with obstacles is considered. The robots are equipped with global positioning capabilities (for instance they are equipped with GPS) and visual sensors able to monitor the surrounding environment. The goal is to maximize the area monitored by the team, by identifying the best configuration of the team members. Due to the non-convex nature of the problem, an analytical solution cannot be obtained. The proposed method is based on a new cognitive-based, adaptive optimization algorithm (CAO). This method allows getting coordinated and scalable controls to accomplish the task, even when the obstacles are unknown. Extensive simulations are presented to show the efficiency of the proposed approach.
Url:
Affiliations:
- France, Grèce
- Auvergne-Rhône-Alpes, Rhône-Alpes
- Grenoble
- Université Joseph Fourier, Université de Grenoble
Links toward previous steps (curation, corpus...)
- to stream Hal, to step Corpus: 000021
- to stream Hal, to step Curation: 000021
- to stream Hal, to step Checkpoint: 000092
- to stream Main, to step Merge: 000A61
- to stream Main, to step Curation: 000A60
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Adaptive-based, Scalable Design for Autonomous Multi-Robot Surveillance</title><author><name sortKey="Renzaglia, Alessandro" sort="Renzaglia, Alessandro" uniqKey="Renzaglia A" first="Alessandro" last="Renzaglia">Alessandro Renzaglia</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-44462" status="OLD"><idno type="RNSR">200418270W</idno><orgName>Geometry and Probability for Motion and Action</orgName><orgName type="acronym">E-MOTION</orgName><date type="end">2014-12-31</date><desc><address><addrLine>Inria Grenoble Rhône-Alpes 655 avenue de l'Europe - Montbonnot 38334 Saint Ismier Cedex, France</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/equipes/e-motion</ref></desc><listRelation><relation active="#struct-24471" type="direct"></relation><relation active="#struct-300275" type="indirect"></relation><relation active="#struct-51016" type="indirect"></relation><relation active="#struct-3886" type="indirect"></relation><relation name="UMR5217" active="#struct-441569" type="indirect"></relation><relation active="#struct-2497" type="direct"></relation><relation active="#struct-300009" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-24471" type="direct"><org type="laboratory" xml:id="struct-24471" status="VALID"><orgName>Laboratoire d'Informatique de Grenoble</orgName><orgName type="acronym">LIG</orgName><desc><address><addrLine>UMR 5217 - Laboratoire LIG - 38041 Grenoble cedex 9 - France Tél. : +33 (0)4 76 51 43 61 - Fax : +33 (0)4 76 51 49 85</addrLine><country key="FR"></country></address><ref type="url">http://www.liglab.fr/</ref></desc><listRelation><relation active="#struct-300275" type="direct"></relation><relation active="#struct-51016" type="direct"></relation><relation active="#struct-3886" type="direct"></relation><relation name="UMR5217" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-300275" type="indirect"><org type="institution" xml:id="struct-300275" status="OLD"><idno type="IdRef">026388804</idno><orgName>Institut National Polytechnique de Grenoble </orgName><orgName type="acronym">INPG</orgName><date type="end">2006-12-31</date><desc><address><addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-51016" type="indirect"><org type="institution" xml:id="struct-51016" status="OLD"><idno type="IdRef">026404796</idno><orgName>Université Joseph Fourier - Grenoble 1</orgName><orgName type="acronym">UJF</orgName><date type="end">2015-12-31</date><desc><address><addrLine>BP 53 - 38041 Grenoble Cedex 9</addrLine><country key="FR"></country></address><ref type="url">http://www.ujf-grenoble.fr/</ref></desc></org></tutelle><tutelle active="#struct-3886" type="indirect"><org type="institution" xml:id="struct-3886" status="OLD"><idno type="IdRef">02640432X</idno><orgName>Université Pierre Mendès France - Grenoble 2</orgName><orgName type="acronym">UPMF</orgName><date type="end">2015-12-31</date><desc><address><addrLine>BP 47 - 38040 Grenoble Cedex 9</addrLine><country key="FR"></country></address><ref type="url">http://www.upmf-grenoble.fr/</ref></desc></org></tutelle><tutelle name="UMR5217" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle active="#struct-2497" type="direct"><org type="laboratory" xml:id="struct-2497" status="VALID"><idno type="RNSR">199218244V</idno><orgName>Inria Grenoble - Rhône-Alpes</orgName><desc><address><addrLine>Inovallée655 avenue de l'Europe38330 Montbonnot</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/centre/grenoble</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Grenoble</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Joseph Fourier</orgName><orgName type="institution" wicri:auto="newGroup">Université de Grenoble</orgName></affiliation></author><author><name sortKey="Doitsidis, Lefteris" sort="Doitsidis, Lefteris" uniqKey="Doitsidis L" first="Lefteris" last="Doitsidis">Lefteris Doitsidis</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-23071" status="VALID"><orgName>Department of Electronic and Computer Engineering [Crete]</orgName><orgName type="acronym">E.C.E</orgName><desc><address><country key="GR"></country></address><ref type="url">http://en.tuc.gr/hmmy-deparment-en.html</ref></desc><listRelation><relation active="#struct-300927" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-300927" type="direct"><org type="institution" xml:id="struct-300927" status="VALID"><orgName>Technical University of Crete</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle></tutelles></hal:affiliation><country>Grèce</country></affiliation></author><author><name sortKey="Martinelli, Agostino" sort="Martinelli, Agostino" uniqKey="Martinelli A" first="Agostino" last="Martinelli">Agostino Martinelli</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-44462" status="OLD"><idno type="RNSR">200418270W</idno><orgName>Geometry and Probability for Motion and Action</orgName><orgName type="acronym">E-MOTION</orgName><date type="end">2014-12-31</date><desc><address><addrLine>Inria Grenoble Rhône-Alpes 655 avenue de l'Europe - Montbonnot 38334 Saint Ismier Cedex, France</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/equipes/e-motion</ref></desc><listRelation><relation active="#struct-24471" type="direct"></relation><relation active="#struct-300275" type="indirect"></relation><relation active="#struct-51016" type="indirect"></relation><relation active="#struct-3886" type="indirect"></relation><relation name="UMR5217" active="#struct-441569" type="indirect"></relation><relation active="#struct-2497" type="direct"></relation><relation active="#struct-300009" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-24471" type="direct"><org type="laboratory" xml:id="struct-24471" status="VALID"><orgName>Laboratoire d'Informatique de Grenoble</orgName><orgName type="acronym">LIG</orgName><desc><address><addrLine>UMR 5217 - Laboratoire LIG - 38041 Grenoble cedex 9 - France Tél. : +33 (0)4 76 51 43 61 - Fax : +33 (0)4 76 51 49 85</addrLine><country key="FR"></country></address><ref type="url">http://www.liglab.fr/</ref></desc><listRelation><relation active="#struct-300275" type="direct"></relation><relation active="#struct-51016" type="direct"></relation><relation active="#struct-3886" type="direct"></relation><relation name="UMR5217" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-300275" type="indirect"><org type="institution" xml:id="struct-300275" status="OLD"><idno type="IdRef">026388804</idno><orgName>Institut National Polytechnique de Grenoble </orgName><orgName type="acronym">INPG</orgName><date type="end">2006-12-31</date><desc><address><addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-51016" type="indirect"><org type="institution" xml:id="struct-51016" status="OLD"><idno type="IdRef">026404796</idno><orgName>Université Joseph Fourier - Grenoble 1</orgName><orgName type="acronym">UJF</orgName><date type="end">2015-12-31</date><desc><address><addrLine>BP 53 - 38041 Grenoble Cedex 9</addrLine><country key="FR"></country></address><ref type="url">http://www.ujf-grenoble.fr/</ref></desc></org></tutelle><tutelle active="#struct-3886" type="indirect"><org type="institution" xml:id="struct-3886" status="OLD"><idno type="IdRef">02640432X</idno><orgName>Université Pierre Mendès France - Grenoble 2</orgName><orgName type="acronym">UPMF</orgName><date type="end">2015-12-31</date><desc><address><addrLine>BP 47 - 38040 Grenoble Cedex 9</addrLine><country key="FR"></country></address><ref type="url">http://www.upmf-grenoble.fr/</ref></desc></org></tutelle><tutelle name="UMR5217" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle active="#struct-2497" type="direct"><org type="laboratory" xml:id="struct-2497" status="VALID"><idno type="RNSR">199218244V</idno><orgName>Inria Grenoble - Rhône-Alpes</orgName><desc><address><addrLine>Inovallée655 avenue de l'Europe38330 Montbonnot</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/centre/grenoble</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Grenoble</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Joseph Fourier</orgName><orgName type="institution" wicri:auto="newGroup">Université de Grenoble</orgName></affiliation></author><author><name sortKey="Kosmatopoulos, Elias" sort="Kosmatopoulos, Elias" uniqKey="Kosmatopoulos E" first="Elias" last="Kosmatopoulos">Elias Kosmatopoulos</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-133133" status="VALID"><orgName>Informatics & Telematics Insitute [Thessaloniki]</orgName><orgName type="acronym">ITT</orgName><desc><address><addrLine>P.O.Box 60361, 6th km Xarilaou - Thermi, 57001, Thessaloniki, Greece</addrLine><country key="GR"></country></address><ref type="url">http://www.iti.gr/iti/index.html</ref></desc><listRelation><relation active="#struct-301762" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-301762" type="direct"><org type="institution" xml:id="struct-301762" status="VALID"><orgName>Greek Ministry of Education</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle></tutelles></hal:affiliation><country>Grèce</country></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">HAL</idno><idno type="RBID">Hal:inria-00579310</idno><idno type="halId">inria-00579310</idno><idno type="halUri">https://hal.inria.fr/inria-00579310</idno><idno type="url">https://hal.inria.fr/inria-00579310</idno><date when="2010-12">2010-12</date><idno type="wicri:Area/Hal/Corpus">000021</idno><idno type="wicri:Area/Hal/Curation">000021</idno><idno type="wicri:Area/Hal/Checkpoint">000092</idno><idno type="wicri:explorRef" wicri:stream="Hal" wicri:step="Checkpoint">000092</idno><idno type="wicri:Area/Main/Merge">000A61</idno><idno type="wicri:Area/Main/Curation">000A60</idno><idno type="wicri:Area/Main/Exploration">000A60</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Adaptive-based, Scalable Design for Autonomous Multi-Robot Surveillance</title><author><name sortKey="Renzaglia, Alessandro" sort="Renzaglia, Alessandro" uniqKey="Renzaglia A" first="Alessandro" last="Renzaglia">Alessandro Renzaglia</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-44462" status="OLD"><idno type="RNSR">200418270W</idno><orgName>Geometry and Probability for Motion and Action</orgName><orgName type="acronym">E-MOTION</orgName><date type="end">2014-12-31</date><desc><address><addrLine>Inria Grenoble Rhône-Alpes 655 avenue de l'Europe - Montbonnot 38334 Saint Ismier Cedex, France</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/equipes/e-motion</ref></desc><listRelation><relation active="#struct-24471" type="direct"></relation><relation active="#struct-300275" type="indirect"></relation><relation active="#struct-51016" type="indirect"></relation><relation active="#struct-3886" type="indirect"></relation><relation name="UMR5217" active="#struct-441569" type="indirect"></relation><relation active="#struct-2497" type="direct"></relation><relation active="#struct-300009" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-24471" type="direct"><org type="laboratory" xml:id="struct-24471" status="VALID"><orgName>Laboratoire d'Informatique de Grenoble</orgName><orgName type="acronym">LIG</orgName><desc><address><addrLine>UMR 5217 - Laboratoire LIG - 38041 Grenoble cedex 9 - France Tél. : +33 (0)4 76 51 43 61 - Fax : +33 (0)4 76 51 49 85</addrLine><country key="FR"></country></address><ref type="url">http://www.liglab.fr/</ref></desc><listRelation><relation active="#struct-300275" type="direct"></relation><relation active="#struct-51016" type="direct"></relation><relation active="#struct-3886" type="direct"></relation><relation name="UMR5217" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-300275" type="indirect"><org type="institution" xml:id="struct-300275" status="OLD"><idno type="IdRef">026388804</idno><orgName>Institut National Polytechnique de Grenoble </orgName><orgName type="acronym">INPG</orgName><date type="end">2006-12-31</date><desc><address><addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-51016" type="indirect"><org type="institution" xml:id="struct-51016" status="OLD"><idno type="IdRef">026404796</idno><orgName>Université Joseph Fourier - Grenoble 1</orgName><orgName type="acronym">UJF</orgName><date type="end">2015-12-31</date><desc><address><addrLine>BP 53 - 38041 Grenoble Cedex 9</addrLine><country key="FR"></country></address><ref type="url">http://www.ujf-grenoble.fr/</ref></desc></org></tutelle><tutelle active="#struct-3886" type="indirect"><org type="institution" xml:id="struct-3886" status="OLD"><idno type="IdRef">02640432X</idno><orgName>Université Pierre Mendès France - Grenoble 2</orgName><orgName type="acronym">UPMF</orgName><date type="end">2015-12-31</date><desc><address><addrLine>BP 47 - 38040 Grenoble Cedex 9</addrLine><country key="FR"></country></address><ref type="url">http://www.upmf-grenoble.fr/</ref></desc></org></tutelle><tutelle name="UMR5217" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle active="#struct-2497" type="direct"><org type="laboratory" xml:id="struct-2497" status="VALID"><idno type="RNSR">199218244V</idno><orgName>Inria Grenoble - Rhône-Alpes</orgName><desc><address><addrLine>Inovallée655 avenue de l'Europe38330 Montbonnot</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/centre/grenoble</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Grenoble</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Joseph Fourier</orgName><orgName type="institution" wicri:auto="newGroup">Université de Grenoble</orgName></affiliation></author><author><name sortKey="Doitsidis, Lefteris" sort="Doitsidis, Lefteris" uniqKey="Doitsidis L" first="Lefteris" last="Doitsidis">Lefteris Doitsidis</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-23071" status="VALID"><orgName>Department of Electronic and Computer Engineering [Crete]</orgName><orgName type="acronym">E.C.E</orgName><desc><address><country key="GR"></country></address><ref type="url">http://en.tuc.gr/hmmy-deparment-en.html</ref></desc><listRelation><relation active="#struct-300927" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-300927" type="direct"><org type="institution" xml:id="struct-300927" status="VALID"><orgName>Technical University of Crete</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle></tutelles></hal:affiliation><country>Grèce</country></affiliation></author><author><name sortKey="Martinelli, Agostino" sort="Martinelli, Agostino" uniqKey="Martinelli A" first="Agostino" last="Martinelli">Agostino Martinelli</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-44462" status="OLD"><idno type="RNSR">200418270W</idno><orgName>Geometry and Probability for Motion and Action</orgName><orgName type="acronym">E-MOTION</orgName><date type="end">2014-12-31</date><desc><address><addrLine>Inria Grenoble Rhône-Alpes 655 avenue de l'Europe - Montbonnot 38334 Saint Ismier Cedex, France</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/equipes/e-motion</ref></desc><listRelation><relation active="#struct-24471" type="direct"></relation><relation active="#struct-300275" type="indirect"></relation><relation active="#struct-51016" type="indirect"></relation><relation active="#struct-3886" type="indirect"></relation><relation name="UMR5217" active="#struct-441569" type="indirect"></relation><relation active="#struct-2497" type="direct"></relation><relation active="#struct-300009" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-24471" type="direct"><org type="laboratory" xml:id="struct-24471" status="VALID"><orgName>Laboratoire d'Informatique de Grenoble</orgName><orgName type="acronym">LIG</orgName><desc><address><addrLine>UMR 5217 - Laboratoire LIG - 38041 Grenoble cedex 9 - France Tél. : +33 (0)4 76 51 43 61 - Fax : +33 (0)4 76 51 49 85</addrLine><country key="FR"></country></address><ref type="url">http://www.liglab.fr/</ref></desc><listRelation><relation active="#struct-300275" type="direct"></relation><relation active="#struct-51016" type="direct"></relation><relation active="#struct-3886" type="direct"></relation><relation name="UMR5217" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-300275" type="indirect"><org type="institution" xml:id="struct-300275" status="OLD"><idno type="IdRef">026388804</idno><orgName>Institut National Polytechnique de Grenoble </orgName><orgName type="acronym">INPG</orgName><date type="end">2006-12-31</date><desc><address><addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-51016" type="indirect"><org type="institution" xml:id="struct-51016" status="OLD"><idno type="IdRef">026404796</idno><orgName>Université Joseph Fourier - Grenoble 1</orgName><orgName type="acronym">UJF</orgName><date type="end">2015-12-31</date><desc><address><addrLine>BP 53 - 38041 Grenoble Cedex 9</addrLine><country key="FR"></country></address><ref type="url">http://www.ujf-grenoble.fr/</ref></desc></org></tutelle><tutelle active="#struct-3886" type="indirect"><org type="institution" xml:id="struct-3886" status="OLD"><idno type="IdRef">02640432X</idno><orgName>Université Pierre Mendès France - Grenoble 2</orgName><orgName type="acronym">UPMF</orgName><date type="end">2015-12-31</date><desc><address><addrLine>BP 47 - 38040 Grenoble Cedex 9</addrLine><country key="FR"></country></address><ref type="url">http://www.upmf-grenoble.fr/</ref></desc></org></tutelle><tutelle name="UMR5217" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle active="#struct-2497" type="direct"><org type="laboratory" xml:id="struct-2497" status="VALID"><idno type="RNSR">199218244V</idno><orgName>Inria Grenoble - Rhône-Alpes</orgName><desc><address><addrLine>Inovallée655 avenue de l'Europe38330 Montbonnot</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/centre/grenoble</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Grenoble</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Joseph Fourier</orgName><orgName type="institution" wicri:auto="newGroup">Université de Grenoble</orgName></affiliation></author><author><name sortKey="Kosmatopoulos, Elias" sort="Kosmatopoulos, Elias" uniqKey="Kosmatopoulos E" first="Elias" last="Kosmatopoulos">Elias Kosmatopoulos</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-133133" status="VALID"><orgName>Informatics & Telematics Insitute [Thessaloniki]</orgName><orgName type="acronym">ITT</orgName><desc><address><addrLine>P.O.Box 60361, 6th km Xarilaou - Thermi, 57001, Thessaloniki, Greece</addrLine><country key="GR"></country></address><ref type="url">http://www.iti.gr/iti/index.html</ref></desc><listRelation><relation active="#struct-301762" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-301762" type="direct"><org type="institution" xml:id="struct-301762" status="VALID"><orgName>Greek Ministry of Education</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle></tutelles></hal:affiliation><country>Grèce</country></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="fr"><term>Autonomous Systems</term><term>Cooperative Control</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this paper the problem of positioning a team of mobile robots for a surveillance task in a non-convex environment with obstacles is considered. The robots are equipped with global positioning capabilities (for instance they are equipped with GPS) and visual sensors able to monitor the surrounding environment. The goal is to maximize the area monitored by the team, by identifying the best configuration of the team members. Due to the non-convex nature of the problem, an analytical solution cannot be obtained. The proposed method is based on a new cognitive-based, adaptive optimization algorithm (CAO). This method allows getting coordinated and scalable controls to accomplish the task, even when the obstacles are unknown. Extensive simulations are presented to show the efficiency of the proposed approach.</div></front></TEI><affiliations><list><country><li>France</li><li>Grèce</li></country><region><li>Auvergne-Rhône-Alpes</li><li>Rhône-Alpes</li></region><settlement><li>Grenoble</li></settlement><orgName><li>Université Joseph Fourier</li><li>Université de Grenoble</li></orgName></list><tree><country name="France"><region name="Auvergne-Rhône-Alpes"><name sortKey="Renzaglia, Alessandro" sort="Renzaglia, Alessandro" uniqKey="Renzaglia A" first="Alessandro" last="Renzaglia">Alessandro Renzaglia</name></region><name sortKey="Martinelli, Agostino" sort="Martinelli, Agostino" uniqKey="Martinelli A" first="Agostino" last="Martinelli">Agostino Martinelli</name></country><country name="Grèce"><noRegion><name sortKey="Doitsidis, Lefteris" sort="Doitsidis, Lefteris" uniqKey="Doitsidis L" first="Lefteris" last="Doitsidis">Lefteris Doitsidis</name></noRegion><name sortKey="Kosmatopoulos, Elias" sort="Kosmatopoulos, Elias" uniqKey="Kosmatopoulos E" first="Elias" last="Kosmatopoulos">Elias Kosmatopoulos</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/TelematiV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000A60 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 000A60 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= TelematiV1
|flux= Main
|étape= Exploration
|type= RBID
|clé= Hal:inria-00579310
|texte= Adaptive-based, Scalable Design for Autonomous Multi-Robot Surveillance
}}
| This area was generated with Dilib version V0.6.31. |  |