Multi-agent perimeter patrolling subject to mobility constraints

Abstract

Abstract-In this paper we study the problem of real-time optimal distributed partitioning for perimeter patrolling in the context of multi-camera networks for surveillance. The objective is to partition a given segment into non-overlapping sub-segments, each assigned to a different camera to patrol. Each camera has both physical mobility range and limited speed, and it must patrol its assigned sub-segment by sweeping it back and forth at maximum speed. Here we first review the solution for the centralized optimal partitioning. Then we propose two different distributed control strategies to determine the extremes of the optimal patrolling areas of each camera. Both these strategies require only local communication with the neighboring cameras but adopt different communication schemes, respectively, symmetric gossip and asynchronous asymmetric broadcast. The first scheme is shown to be provably convergent to the optimal solution. Some theoretical insights are provided also for the second scheme whose effectiveness is validated through numerical simulations.

Simultaneous Boundary Partitioning and Cameras Synchronization for Optimal Video Surveillance

“…Our synchronization algorithm inherits the optimality properties discussed in Spindler et al (2012); Alberton et al (2012). In particular, the cameras trajectory induced by our algorithm asymptotically achieves minimum worstcase detection time and bounded average detection time of smart intruders.…”

“…It should be observed that, although we make explicit use of the techniques developed by Spindler et al (2012) and by Alberton et al (2012), this paper extends the cited works in the following ways: with respect to Spindler et al (2012), (i) the boundary partition and hence its dimension are not given a priori, and, instead, they are computed by the cameras via a distributed algorithm, (ii) we consider cameras with different maximal speeds, and (iii) with respect to Alberton et al (2012), we consider the WDT and the ADT of moving and smart intruders, as opposed to only the WDTs of static intruders. As it will be clear in the sequel, these extensions are not trivial.…”

“…Due the fact that B is an (open) boundary, a (periodic) cameras trajectory with minimum WDTs can be computed by optimally partitioning B among the cameras, and by letting each camera sweep its assigned segment A i at maximum speed (see Alberton et al (2012) and (Czyzowicz et al, 2011, Conjecture 1)).…”

“…A static variation (WDTs) of the WDT criterion in equation (3) is defined in Alberton et al (2012). In particular, WDTs(X) := max p0,t0…”

“…Our solution builds upon the results presented in Spindler et al (2012); Alberton et al (2012). We propose a distributed algorithm to simultaneously partition a one dimensional open path among a set of fixed cameras, and synchronize the cameras motion to achieve optimal performance.…”