Abstract-GRAPH-CLEAR is a recently introduced theoretical framework to model surveillance tasks accomplished by multiple robots patrolling complex indoor environments. In this paper we provide a first step to close the loop between its graphbased theoretical formulation and practical scenarios. We show how it is possible to algorithmically extract suitable so-called surveillance graphs from occupancy grid maps. We also identify local graph modification operators, called contractions, that alter the graph being extracted so that the original surveillance problem can be solved using less robots. The algorithm we present is based on the Generalized Voronoi Diagram, a structure that can be simply computed using watershed like algorithms. Our algorithm is evaluated by processing maps produced by mobile robots exploring indoor environments. It turns out that the proposed algorithm is fast, robust to noise, and opportunistically modifies the graph so that less expensive strategies can be computed.
Additionally, REF proposed a method to extract graph representations from occupancy grids for surveillance tasks, based on the GVD.
Extracting surveillance graphs from robot maps
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
Computer Science