{"id":"https://openalex.org/W2097278845","doi":"https://doi.org/10.1109/iros.2008.4650851","title":"Optimal positioning of surveillance UGVs","display_name":"Optimal positioning of surveillance UGVs","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2097278845","doi":"https://doi.org/10.1109/iros.2008.4650851","mag":"2097278845"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4650851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650851","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055635579","display_name":"Ulrik Nilsson","orcid":null},"institutions":[{"id":"https://openalex.org/I1291458624","display_name":"Swedish Defence Research Agency","ror":"https://ror.org/0470cgs30","country_code":"SE","type":"funder","lineage":["https://openalex.org/I1291458624"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"U. Nilsson","raw_affiliation_strings":["Department of Autonomous Systems, Swedish Defence Research Agency (FOI), Stockholm, Sweden","Dept. of Autonomous Syst., Swedish Defence Res. Agency (FOI), Stockholm"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Autonomous Systems, Swedish Defence Research Agency (FOI), Stockholm, Sweden","institution_ids":["https://openalex.org/I1291458624"]},{"raw_affiliation_string":"Dept. of Autonomous Syst., Swedish Defence Res. Agency (FOI), Stockholm","institution_ids":["https://openalex.org/I1291458624"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070754732","display_name":"Petter \u00d6gren","orcid":"https://orcid.org/0000-0002-7714-928X"},"institutions":[{"id":"https://openalex.org/I1291458624","display_name":"Swedish Defence Research Agency","ror":"https://ror.org/0470cgs30","country_code":"SE","type":"funder","lineage":["https://openalex.org/I1291458624"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"P. Ogren","raw_affiliation_strings":["Department of Autonomous Systems, Swedish Defence Research Agency (FOI), Stockholm, Sweden","Dept. of Autonomous Syst., Swedish Defence Res. Agency (FOI), Stockholm"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Autonomous Systems, Swedish Defence Research Agency (FOI), Stockholm, Sweden","institution_ids":["https://openalex.org/I1291458624"]},{"raw_affiliation_string":"Dept. of Autonomous Syst., Swedish Defence Res. Agency (FOI), Stockholm","institution_ids":["https://openalex.org/I1291458624"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034158033","display_name":"Johan Thunberg","orcid":"https://orcid.org/0000-0002-9738-4148"},"institutions":[{"id":"https://openalex.org/I1291458624","display_name":"Swedish Defence Research Agency","ror":"https://ror.org/0470cgs30","country_code":"SE","type":"funder","lineage":["https://openalex.org/I1291458624"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"J. Thunberg","raw_affiliation_strings":["Department of Autonomous Systems, Swedish Defence Research Agency (FOI), Stockholm, Sweden","Dept. of Autonomous Syst., Swedish Defence Res. Agency (FOI), Stockholm"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Autonomous Systems, Swedish Defence Research Agency (FOI), Stockholm, Sweden","institution_ids":["https://openalex.org/I1291458624"]},{"raw_affiliation_string":"Dept. of Autonomous Syst., Swedish Defence Res. Agency (FOI), Stockholm","institution_ids":["https://openalex.org/I1291458624"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":57.2387,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.99525174,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2539","last_page":"2544"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7306371927261353},{"id":"https://openalex.org/keywords/zoom","display_name":"Zoom","score":0.7145226001739502},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6065683364868164},{"id":"https://openalex.org/keywords/set-cover-problem","display_name":"Set cover problem","score":0.5845533013343811},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5820521712303162},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5586143732070923},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.519927442073822},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4943108558654785},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.47145041823387146},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4171268045902252},{"id":"https://openalex.org/keywords/complement","display_name":"Complement (music)","score":0.41684624552726746},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16120195388793945},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09602886438369751}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7306371927261353},{"id":"https://openalex.org/C124913957","wikidata":"https://www.wikidata.org/wiki/Q1232548","display_name":"Zoom","level":3,"score":0.7145226001739502},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6065683364868164},{"id":"https://openalex.org/C100808899","wikidata":"https://www.wikidata.org/wiki/Q1192100","display_name":"Set cover problem","level":3,"score":0.5845533013343811},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5820521712303162},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5586143732070923},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.519927442073822},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4943108558654785},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.47145041823387146},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4171268045902252},{"id":"https://openalex.org/C112313634","wikidata":"https://www.wikidata.org/wiki/Q7886648","display_name":"Complement (music)","level":5,"score":0.41684624552726746},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16120195388793945},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09602886438369751},{"id":"https://openalex.org/C78762247","wikidata":"https://www.wikidata.org/wiki/Q1273174","display_name":"Petroleum engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C15336307","wikidata":"https://www.wikidata.org/wiki/Q1766051","display_name":"Lens (geology)","level":2,"score":0.0},{"id":"https://openalex.org/C188082640","wikidata":"https://www.wikidata.org/wiki/Q1780899","display_name":"Complementation","level":4,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C127716648","wikidata":"https://www.wikidata.org/wiki/Q104053","display_name":"Phenotype","level":3,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2008.4650851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650851","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.716.9782","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.716.9782","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cas.kth.se/%7Epetter/Publications/ugvPositioning_iros_final.pdf","raw_type":"text"},{"id":"pmh:oai:orbilu.uni.lu:10993/20687","is_oa":false,"landing_page_url":"https://orbilu.uni.lu/handle/10993/20687","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2539-2544). IEEE (2008).","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7200000286102295,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W17351123","https://openalex.org/W1479913796","https://openalex.org/W1589476585","https://openalex.org/W1594331830","https://openalex.org/W1976378994","https://openalex.org/W2020643009","https://openalex.org/W2045870157","https://openalex.org/W2062569227","https://openalex.org/W2063442090","https://openalex.org/W2065732902","https://openalex.org/W2100900923","https://openalex.org/W2110033738","https://openalex.org/W2123264737","https://openalex.org/W2137111949","https://openalex.org/W2143731699","https://openalex.org/W2161128818","https://openalex.org/W2161303196","https://openalex.org/W2334910929","https://openalex.org/W2502636724","https://openalex.org/W3137242876"],"related_works":["https://openalex.org/W2788595494","https://openalex.org/W2244676099","https://openalex.org/W3172556642","https://openalex.org/W3157456843","https://openalex.org/W1990150827","https://openalex.org/W2036676347","https://openalex.org/W1589307369","https://openalex.org/W3165790285","https://openalex.org/W3144351989","https://openalex.org/W2091972240"],"abstract_inverted_index":{"Unmanned":[0],"ground":[1],"vehicles":[2],"(UGVs)":[3],"equipped":[4],"with":[5,87],"surveillance":[6],"cameras":[7,113,152],"present":[8],"a":[9,35,40,52,78,82,88,104,135,156],"flexible":[10],"complement":[11],"to":[12,24,43,59,76,98,149,169],"the":[13,29,112,130,141,160,171],"numerous":[14],"stationary":[15],"sensors":[16],"being":[17],"used":[18],"in":[19,57,117],"security":[20],"applications":[21],"today.":[22],"However,":[23],"take":[25],"full":[26],"advantage":[27],"of":[28,37,54,85,91,107,119,125,159,165],"flexibility":[30],"and":[31,123,139,153],"speed":[32],"offered":[33],"by":[34,111],"group":[36],"UGV":[38,100],"platforms,":[39],"fast":[41],"way":[42],"compute":[44],"desired":[45],"camera":[46],"locations":[47],"that":[48,103],"cover":[49],"or":[50],"surround":[51],"set":[53,84,106],"buildings":[55,86],"e.g.,":[56],"response":[58],"an":[60],"alarm,":[61],"is":[62,74,96],"needed.":[63],"In":[64],"this":[65],"paper":[66],"we":[67,133,144],"focus":[68],"on":[69],"two":[70,172],"problems.":[71],"The":[72,93],"first":[73,131],"how":[75,97],"create":[77],"line-of-sight":[79],"perimeter":[80],"around":[81],"given":[83,105],"minimal":[89],"number":[90,164],"UGVs.":[92],"second":[94,142],"problem":[95,132,143],"find":[99],"positions":[101],"such":[102],"walls":[108],"are":[109,167],"covered":[110],"while":[114],"taking":[115],"constraints":[116],"terms":[118],"zoom,":[120],"range,":[121],"resolution":[122],"field":[124],"view":[126],"into":[127],"account.":[128],"For":[129],"propose":[134],"polynomial":[136],"time":[137],"algorithm":[138],"for":[140],"extend":[145],"our":[146],"previous":[147],"work":[148],"include":[150],"zoom":[151],"furthermore":[154],"provide":[155],"theoretical":[157],"analysis":[158],"approach":[161],"itself.":[162],"A":[163],"examples":[166],"presented":[168],"illustrate":[170],"algorithms.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
