Distributed partitioning strategies for perimeter patrolling

In this work 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 line of fixed length into non-overlapping 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 segment by sweeping it back and forth at maximum speed. Here we propose three different distributed control strategies to determine the extremes of the patrolling areas of each camera. All these strategies require only local communication with the neighboring cameras but adopt different communication schemes: synchronous, asynchronous symmetric gossip and asynchronous asymmetric gossip. For the first two schemes we provide theoretical convergence guarantees, while for the last scheme we provide numerical simulations showing the effectiveness of the proposed solution.

[1]  I-Jeng Wang,et al.  Surveillance Camera Coordination Through Distributed Scheduling , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[2]  Ruggero Carli,et al.  Quantized Coordination Algorithms for Rendezvous and Deployment , 2009, SIAM J. Control. Optim..

[3]  Luca Schenato,et al.  Distributed Partitioning Strategies for Perimeter patrolling Ruggero , 2011 .

[4]  Emilio Frazzoli,et al.  On synchronous robotic networks Part II: Time complexity of rendezvous and deployment algorithms , 2007, Proceedings of the 44th IEEE Conference on Decision and Control.

[5]  Randal W. Beard,et al.  Decentralized Perimeter Surveillance Using a Team of UAVs , 2005, IEEE Transactions on Robotics.

[6]  Emilio Frazzoli,et al.  Equitable partitioning policies for robotic networks , 2009, 2009 IEEE International Conference on Robotics and Automation.

[7]  Yann Chevaleyre,et al.  Theoretical analysis of the multi-agent patrolling problem , 2004, Proceedings. IEEE/WIC/ACM International Conference on Intelligent Agent Technology, 2004. (IAT 2004)..

[8]  Emilio Frazzoli,et al.  Equitable Partitioning Policies for Mobile Robotic Networks , 2009, ArXiv.

[9]  Sergio A. Velastin,et al.  Intelligent distributed surveillance systems: a review , 2005 .

[10]  I.I. Hussein,et al.  Effective Coverage Control using Dynamic Sensor Networks with Flocking and Guaranteed Collision Avoidance , 2007, 2007 American Control Conference.

[11]  Yann Chevaleyre,et al.  Recent Advances on Multi-agent Patrolling , 2004, SBIA.

[12]  Antonio Franchi,et al.  On optimal cooperative patrolling , 2010, 49th IEEE Conference on Decision and Control (CDC).

[13]  Luc Moreau,et al.  Stability of multiagent systems with time-dependent communication links , 2005, IEEE Transactions on Automatic Control.

[14]  Sandro Zampieri,et al.  Randomized consensus algorithms over large scale networks , 2007, 2007 Information Theory and Applications Workshop.

[15]  I.I. Hussein,et al.  Effective Coverage Control using Dynamic Sensor Networks , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[16]  Luca Schenato,et al.  Distributed perimeter patrolling and tracking for camera networks , 2010, 49th IEEE Conference on Decision and Control (CDC).

[17]  F. Bullo,et al.  On Synchronous Robotic Networks—Part II: Time Complexity of Rendezvous and Deployment Algorithms , 2007, IEEE Transactions on Automatic Control.