Abstract
We investigate how hybrid camera systems---stationary and mobile cameras---allow to improve the observability of mobile objects and/or locations considering limited resources. This Static Camera System with Mobile robots (SCSM) allows mobile cameras to observe targets where no stationary cameras are deployed, where they fail, or their field of view (FOV) is blocked. By assigning dynamic priorities to targets, the self-coordination and control of the SCSM becomes an assignment problem. Furthermore, the coordination of the available resources, especially for the mobile part of the SCSM, is considered. We adapt a market-based approach based on dynamic clustering. The SCSM is evaluated through simulation studies with a graphical simulator for visual sensor networks (VSNs). The results show that the SCSM can achieve up to 30% higher observability of targets compared to a stationary camera system. Moreover, the resource consumption can be distributed among the cameras with the dynamic clustering protocol to not burden all cameras having the same object in their FOV.
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