A Surveillance System based on Audio and Video Sensory Agents cooperating with a Mobile Robot

We present a surveillance system that uses audio and video sensors to reveal and track the presence of an intruder in a off-limit area. The system is composed of a mobile agent and several static agents cooperating in the tracking task. The mobile agent is a vision agent composed of an omnidirectional vision system and a mobile robot. The mobile agents greatly increase the flexibility of the surveillance system with respect to traditional surveillance systems, e.g. the mobile robot can “go and seek” for intruders in areas occluded to the monitoring system or it can patrol areas outside of the field of view of the fix sensory agents. The static agents are acoustic agents composed of self-steerable microphone arrays and a vision agent implemented on a omnidirectional vision system. In this paper, the integration of pre-existing blocks is presented and preliminary tests on the system are reported