Paper Info
Title
Air-ground robot team surveillance of complex 3D environments
Abstract
Real-world surveillance of complex 3D environments is an extremely challenging problem, especially in the presence of unknown dangers. In this work we create a novel ground and aerial autonomous robotic system to surveil a human-robot team's surroundings for targets of interest, which could be e.g., disaster victims, infrastructure inspection, data to support research or public safety, or threats to the human team members' safety. To represent this general case, our system identifies threats to human safety by surveilling the team's surroundings, identifying threats, and notifying the human team member. We provide an interface that visualizes threat targets and allows the human operator to create and modify the surveillance plan. We note that this 3D surveillance task resembles the Art Gallery Problem (AGP) with a time-sensitive route planning aspect similar to the Traveling Salesman Problem (TSP), both of which are NP-hard. We incorporate a human operator into the decision making process of a surveillance system to address the viewpoint selection and route minimization problems, and to extract semantic information from the scene to increase search effectiveness. We construct a system for this collaborative, human-robot team surveillance task using a low-cost Unmanned Aerial Vehicle (UAV) and a more-capable Unmanned Ground Vehicle (UGV). We evaluate the resulting system with a large experiment set (120 trials) conducted in a real-world, 3D, cluttered, urban setting and examine the difference a scenario-specific plan makes to the detection of threat targets compared to a baseline algorithmically-generated plan.
Year
DOI
Venue
2016
10.1109/SSRR.2016.7784322
2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Keywords
Field
DocType
air-ground robot team surveillance,complex 3D environments,real-world surveillance,aerial autonomous robotic system,ground autonomous robotic system,human-robot team,threat target visualization,art gallery problem,AGP,time-sensitive route planning,traveling salesman problem,TSP,NP-hard problem,decision making process,route minimization problems,viewpoint selection,semantic information extraction,human-robot team surveillance,unmanned aerial vehicle,UAV,unmanned ground vehicle,UGV
Art gallery problem,Computer security,Computer science,Travelling salesman problem,Artificial intelligence,Decision-making,Human safety,Computer vision,Route planning,Simulation,Air ground,Unmanned ground vehicle,Robot
Conference
ISSN
ISBN
Citations 
2374-3247
978-1-5090-4350-7
0
PageRank 
References 
Authors
0.34
11
2
Name
Order
Citations
PageRank
Christopher Reardon1739.46
Jonathan Fink255147.90