This work explores a variation of the art gallery problem in which a team of static and mobile guards track a mobile intruder with unknown maximum speed. We consider the special case when the mobile guards are restricted to move along the diagonals of a polygonal environment. First, we present an algorithm to identify candidate vertices in a polygon at which either static guards can be placed or they can serve as an endpoint of the segment on which mobile guards move. Next, we present a technique to partition the environment based on the triangulation of the environment, and allocate guards to each partition to track the intruder. The allocation strategy leads to a classification of the mobile guards based on their task and coordination requirements. Finally, we present a strategy to activate/deactivate static guards based on the speed of the intruder. Simulation results are presented to validate the efficacy of the proposed techniques.

中文翻译：

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由静态和移动警卫混合团队进行的自适应目标跟踪：部署和激活策略

这项工作探索了画廊问题的一种变型，其中静态和移动警卫队跟踪最大速度未知的移动入侵者。我们考虑特殊情况，即移动警卫只能沿着多边形环境的对角线移动。首先，我们提出一种算法来识别候选顶点在可以放置静态防护罩的多边形中，或者它们可以用作移动防护罩在其上移动的线段的端点。接下来，我们提出一种基于环境的三角划分分区环境的技术，并为每个分区分配防护以跟踪入侵者。分配策略根据移动警卫的任务和协调要求对它们进行分类。最后，我们提出了一种基于入侵者的速度来激活/停用静态警卫的策略。仿真结果表明了所提出技术的有效性。