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An Intelligent Sensing Network of Distributed Swarming Agents for Perimeter Detection and Surveillance

[+] Author Affiliations
Gregory K. Fricke, Guoxian Zhang, Adam Caccavale, Walter Li, Devendra P. Garg

Duke University, Durham, NC

Paper No. DSCC2010-4256, pp. 741-748; 8 pages
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 2
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4418-2 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME


Perimeter detection and surveillance by a distributed swarm of autonomous agents offers a solution in multiple cases where human safety or environmental protection is of concern. An algorithmic method is developed for detection and surveillance of one or more dynamic perimeters via distributed control under local-area sensing and communication. Local graphs among neighbors are formed based on proximity, at which point communication among graph members becomes possible. Hardware-in-the-loop mixed-simulation experiments validate the method utilizing iRobot Create® ground robots and a NaturalPoint OptiTrack vision system.

Copyright © 2010 by ASME



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