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A stochastic reachability framework for surveillance


N. Kariotoglou

Grenoble, Meeting of EU project Feednetback (FP7-ICT-223866)

In this talk, we introduce a framework for camera-based autonomous surveillance based on the theory of stochastic reachability and random sets. We consider the problem of maximizing the probability of satisfying safety (tracking), reachability (target acquisition), and reach-avoid (one target tracking while acquiring another) objectives. The solution of the safety, reachability, and reacha-void tasks are computed via dynamic programming resulting in an optimal control policy for the PTZ camera. Experimental results are given for a single PTZ camera and multiple robotic evaders.


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J. Lygeros

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