Situational Graphs for Real-time Mission Control in Robotic Perimeter Surveillance and Inspections Use cases

conference paper








Wilbers, J.

Kemmeren A.

Meijer, W.J.

Haije, T.

Manen, B. van

Taggenbrock, F.

Nahumury, J.

Mil, J. van

Kampmeijer, L.
The Behavior-Oriented Situational Graph (BOS-Graph) supports deployment of autonomous systems by enabling operators to flexibly adjust robot goals and behaviors, and support the interpretation of high-volume real-time data. By compressing dynamic environmental information into nodes and potential actions into edges, the framework supports intuitive and real-time mission management. Environmental context is further presented to the operator by embedding this graph within a real-time map view. Tests with our Dutch security partners demonstrate the usefulness of the framework in perimeter surveillance and exploration tasks, where operators could easily adjust the robot’s behavior to further inspect any occurring events.
Topics



Autonomous systemsSurveillanceReal-time mission controlNational security
TNO Identifier
1020283
Repository link
https://resolver.tno.nl/uuid:6539435b-db6c-4524-9a66-ba276663b75c
Publisher
SPIE
Source title
Autonomous Systems for Security and Defence II Proceedings of SPIE 15–16 September 2025 Madrid, Spain
Editor(s)
Kampmeijer, L.
Masini, B.
Milosevic, Z.
Files
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