From Distributed Coverage to Multi-agent Target Tracking

In this work, we address the problem of deploying mobile agents that try to visually track a mobile intruder in a polygonal environment. First, we present an algorithm to generate a set of regions (referred to as tiles) that can ensure distributed coverage of the entire environment. Next, we propose a tracking strategy for a line guard to track a mobile intruder. Finally, we propose resource-constrained deployment strategies for the team. Simulation results are presented to demonstrate the efficacy of the proposed technique.