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.

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