Distributed surveillance and reconnaissance using multiple autonomous ATVs: CyberScout

Abstract

Abstract-The objective of the CyberScout project is to develop an autonomous surveillance and reconnaissance system using a network of all-terrain vehicles. In this paper, we focus on two facets of this system: 1) vision for surveillance and 2) autonomous navigation and dynamic path planning.In the area of vision-based surveillance, we have developed robust, efficient algorithms to detect, classify, and track moving objects of interest (person, people, or vehicle) with a static camera. Adaptation through feedback from the classifier and tracker allow the detector to use grayscale imagery, but perform as well as prior color-based detectors. We have extended the detector using scene mosaicing to detect and index moving objects when the camera is panning or tilting. The classification algorithm performs well (less than 8% error rate for all classes) with coarse inputs (20x20-pixel binary image chips), has unparalleled rejection capabilities (rejects 72% of spurious detections), and can flag novel moving objects. The tracking algorithm achieves highly accurate (96%) frame-to-frame correspondence for multiple moving objects in cluttered scenes by determining the discriminant relevance of object features.We have also developed a novel mission coordination architecture, CPAD (Checkpoint/Priority/Action Database), which performs path planning via checkpoint and dynamic priority assignment, using statistical estimates of the environment's motion structure. The motion structure is used to make both preplanning and reactive behaviors more efficient by applying global context. This approach is more computationally efficient than centralized approaches and exploits robot cooperation in dynamic environments better than decoupled approaches.

Toward Intelligent Security Robots: A Survey

“…Beyond conventional communication protocols that have been implemented for several teleoperated security robots, Saptharishi et al [17] presented the CyberScout vehicles. These vehicles were employed with a collective surveillance, and reconnaissance communication architecture for advanced security.…”

“…Such robots have been designed with the ability to counter threats, limit risks to personnel, and reduce manpower requirements in hazardous environments [17]. In this fashion, security robots work as security mobile agents dedicated to protecting properties, valuable objects, and human beings.…”

Robot-Assisted Surveillance in Large Environments

“…In [2] a network of mobile all-terrain vehicles and stationary sentries are exploited in an autonomous surveillance and reconnaissance system. The vehicles are able to detect and track moving objects, which are classified using learning algorithms, through cameras.…”

Optimal Agent Cooperation with Local Information

“…In other words, the group objective is obtained if all rewards are collected, regardless of whether one agent incurs all rewards, or each agent incurs some rewards. For example, in a reconnaissance mission [69,70], or map building mission [60,73,78], if an agent observed and assessed the situation in one part of the environment, there is no reward for a second agent observing or mapping the same part of the environment. We find a second example in formation flight [3,27,28,68].…”