Abstract-This work proposes algorithms to control the trajectory of a team of cameras for video surveillance. We consider a chain of cameras installed in an environment. These cameras are used to detect smart intruders, who are aware of the cameras' configuration at each time instant, and who schedule their motion to avoid detection, if possible. For this problem setup, we first obtain a lower bound on the worst-case and on the average detection time of a smart intruder. We then propose a team trajectory for the cameras, called the equalwaiting trajectory, with minimum worst-case detection time and constant-factor optimal average detection time. Additionally, we design and analyse a distributed algorithm to steer the cameras in finite time towards the equal-waiting trajectory. Finally, the performance and robustness of our distributed algorithm is further analyzed through a simulation study.
This work proposes surveillance trajectories for a network of autonomous cameras to detect intruders. We consider smart intruders, which appear at arbitrary times and locations, are aware of the cameras configuration, and move to avoid detection for as long as possible. As performance criteria we consider the worst-case detection time and the average detection time. We focus on the case of a chain of cameras, and we obtain the following results. First, we characterize a lower bound on the worstcase and on the average detection time of smart intruders. Second, we propose a team trajectory for the cameras, namely Equal-waiting trajectory, with minimum worst-case detection time and with guarantees on the average detection time. Third, we design a distributed algorithm to coordinate the cameras along an Equal-waiting trajectory. Fourth, we design a distributed algorithm for cameras reconfiguration in the case of failure or network change. Finally, we illustrate the effectiveness and robustness of our algorithms via simulations and experiments.
The (re-)development of industrial production systems has to deal with high flexibility due to customers' demands as well as constraints such as the dimensions of the manufactory. Therefore, Intralogistics systems, which transport goods or products between machine tools in the production system, must also be flexibly assembled to fit into the given space. This presupposes that parts of the Intralogistics system, such as a belt conveyor, may be modified or exchanged by different ones and with less effort. Additionally, due to the different lifespans of mechanical, electrical and software components, often electrical devices need to be replaced by other ones during operation as a result of lacking availability thanks to shorter life cycles. Nowadays in industry, a manual adaptation of the control software is necessary after the exchange of an electrical/mechanical device with a newer one. In order to ease the software adaptation, in this paper an automatic analysis of the differences between incompatible software and an adaptation approach focusing on the functional behavior of the software is introduced. After identifying seven interaction points of the control software that need to be adapted, the approach is evaluated with an industrial case study and feedback from industrial experts to prove industrial scalability.
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