Visual Surveillance System with Multi-UAVs Under Communication Constrains

In this paper, it is proposed a visual surveillance system for multiple UAVs under communication constrains. In previous works, a dynamic task allocation algorithm was designed for assigning patrolling and tracking tasks between multiple robots. The idea was to assign the intruders dynamically among the robots using one-to-one coordination technique. However due to communication constrains, every UAVs could store different information. In this paper, local information about targets is obtained by a visual algorithm that detects moving objects during surveillance tasks using fixed low-cost monocular RGB-camera connected to an on-board computer. This system was tested in a urban surveillance scenario, implemented in an indoor test-bed, under EC-SAFEMOBIL project.