Decision-theoretic planning for autonomous robotic surveillance

摘要

In this paper, we introduce a decision-theoretic strategy for surveillance as a first step towards automating the planning of the movement of an autonomous surveillance robot. After a brief discussion of our view on surveillance, we describe a very simple formal model of an environment in which the surveillance task has to be performed. We use this model to illustrate our decision-theoretic strategy and to compare this strategy with other proposed stategies. 1 Introduction In several projects, robots are employed to perform surveillance tasks. See, for example, [5, 6, 7]. However, in most of these projects, the robots are typically used as a kind of flexible sensor platform controlled by some external human operator who makes the high-level decisions on where to go, and how to use the on-board sensors. We are interested in automating this high-level decision making process to allow an autonomous mobile robot plan itself how to perform the surveillance task. Little work has been done i...