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Smooth control of pan-tilt-zoom cameras with an application to multi-agent autonomous surveillance


M. Dahinden

Master Thesis, FS 13 (10279)

This thesis deals with autonomous surveillance using pan-tilt-zoom cameras. Previous work in this eld, conducted at the Automatic Control Laboratory in Zurich, applied the theory of stochastic reachability to develop a path planning algorithm for the operation of pan-tilt-zoom cameras. The built-in position controller of the cameras was used as a low-level controller. To overcome the disadvantage of the jumpy movement this position controller brought along, a model predictive controller for these pan-tilt-zoom cameras was implemented. The goal of this implementation was for the cameras to move smoothly. The developed controller was applied to the previously mentioned path planning algorithm. Also part of the thesis was it to augment this algorithm, called stochastic reach-avoid algorithm, to multiple robots. As a last part the model predictive controller was used to evaluate dierent patrolling algorithms.


Type of Publication:

(12)Diploma/Master Thesis

N. Kariotoglou

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2014:IFA_4677
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