Survey of patrolling algorithms for
surveillance UGVs
David
A. Anisi and Johan Thunberg
Optimization and Systems Theory, Royal Institute of
Technology (KTH), Stockholm, Sweden
ABSTRACT:
This survey centers around the
Cooperative Task Assignment and Path Planning problem, denoted C-TAPP.
A vast amount of applications from the surveillance and security
field can be formulated as C-TAPP problems. The purpose of
this survey is to give a comprehensive
description of current research relevant to the C-TAPP problem, as well as
forming a basis for future research.
Initially, to set the stage for
the subsequent discussions, two motivating examples taken from
the domain of surveillance and security is presented and a more formal
definition of the C-TAPP problem is given. Following that, a
broad sampling of the research that is currently ongoing in this
field is provided. Key features that are present in the overwhelming
majority of the papers encountered in this survey are listed.
Also, some important research aspects that have been largely untreated
in the literature, are mentioned. A representative group of existing
commercial systems are presented and their capabilities and
shortcomings are discussed. In the last part of this survey,
reviews of some individual papers can be found.