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In this paper, we study the Visible Trajectories Planning for Patrolling application using heterogeneous multi agents in 3D urban environments. Our concept is based on a spatial clustering method using visibility analysis of the 3D visibility problem from viewpoints in 3D urban environments, defined as locations. We consider two kinds of agents, with different kinematic and perception capabilities. Using a simplified version of Traveling Salesman Problem (TSP), we formulate the problem as one of patrolling strategy, with upper boundary optimal performances. We present a combination of relative deadline UniPartition approaches based on visibility clusters. These key features allow new planning for an optimal patrolling strategy for heterogeneous agents in urban environments. We demonstrate our patrolling strategy method in simulations using Autonomous Navigation and Virtual Environment Laboratory (ANVEL) test bed environment.

In this paper, we study the Visible Trajectories Planning for Patrolling application using heterogeneous multi agents in 3D urban environments. Our concept is based on a spatial clustering method using visibility analysis of the 3D visibility problem from viewpoints in 3D urban environments, defined as locations. We consider two kinds of agents, with different kinematic and perception capabilities. Using a simplified version of Traveling Salesman Problem (TSP), we formulate the problem as one of patrolling strategy, with upper boundary optimal performances. We present a combination of relative deadline UniPartition approaches based on visibility clusters. These key features allow new planning for an optimal patrolling strategy for heterogeneous agents in urban environments. We demonstrate our patrolling strategy method in simulations using Autonomous Navigation and Virtual Environment Laboratory (ANVEL) test bed environment.

In this paper, we study the Visible Trajectories Planning for Patrolling application using heterogeneous multi agents in 3D urban environments. Our concept is based on a spatial clustering method using visibility analysis of the 3D visibility problem from viewpoints in 3D urban environments, defined as locations. We consider two kinds of agents, with different kinematic and perception capabilities. Using a simplified version of Traveling Salesman Problem (TSP), we formulate the problem as one of patrolling strategy, with upper boundary optimal performances. We present a combination of relative deadline UniPartition approaches based on visibility clusters. These key features allow new planning for an optimal patrolling strategy for heterogeneous agents in urban environments. We demonstrate our patrolling strategy method in simulations using Autonomous Navigation and Virtual Environment Laboratory (ANVEL) test bed environment.

In this paper, we study the Visible Trajectories Planning for Patrolling application using heterogeneous multi agents in 3D urban environments. Our concept is based on a spatial clustering method using visibility analysis of the 3D visibility problem from viewpoints in 3D urban environments, defined as locations. We consider two kinds of agents, with different kinematic and perception capabilities. Using a simplified version of Traveling Salesman Problem (TSP), we formulate the problem as one of patrolling strategy, with upper boundary optimal performances. We present a combination of relative deadline UniPartition approaches based on visibility clusters. These key features allow new planning for an optimal patrolling strategy for heterogeneous agents in urban environments. We demonstrate our patrolling strategy method in simulations using Autonomous Navigation and Virtual Environment Laboratory (ANVEL) test bed environment.

In this paper, we study the Visible Trajectories Planning for Patrolling application using heterogeneous multi agents in 3D urban environments. Our concept is based on a spatial clustering method using visibility analysis of the 3D visibility problem from viewpoints in 3D urban environments, defined as locations. We consider two kinds of agents, with different kinematic and perception capabilities. Using a simplified version of Traveling Salesman Problem (TSP), we formulate the problem as one of patrolling strategy, with upper boundary optimal performances. We present a combination of relative deadline UniPartition approaches based on visibility clusters. These key features allow new planning for an optimal patrolling strategy for heterogeneous agents in urban environments. We demonstrate our patrolling strategy method in simulations using Autonomous Navigation and Virtual Environment Laboratory (ANVEL) test bed environment.

In this paper, we study the Visible Trajectories Planning for Patrolling application using heterogeneous multi agents in 3D urban environments. Our concept is based on a spatial clustering method using visibility analysis of the 3D visibility problem from viewpoints in 3D urban environments, defined as locations. We consider two kinds of agents, with different kinematic and perception capabilities. Using a simplified version of Traveling Salesman Problem (TSP), we formulate the problem as one of patrolling strategy, with upper boundary optimal performances. We present a combination of relative deadline UniPartition approaches based on visibility clusters. These key features allow new planning for an optimal patrolling strategy for heterogeneous agents in urban environments. We demonstrate our patrolling strategy method in simulations using Autonomous Navigation and Virtual Environment Laboratory (ANVEL) test bed environment.

This paper presents results of research dealing with geodetic and cadastral aspects of utilizing space above and below the surface. The research is being conducted at the Geodetic Engineering Division of the Technion - Israel Institute of Technology, as part of the doctoral studies of the first author. The principal objectives of the research are to find a cadastral-geodetic solution for utilizing above and below surface space and for defining the characteristics of the future analytical, three-dimensional and multilayer cadastre that will replace the existing two-dimensional graphical surface cadastre in Israel. The research objectives are being realized by attaining the secondary research objectives: defining the future cadastral reality and developing a multilayer cadastral model; defining guidelines for transition from the surface cadastre to the multilayer cadastre; developing a model for registering property rights in all three spaces; developing models for managing multilayer cadastre information and creating the geodetic-cadastral background for a legal solution of utilizing all land space.

This paper presents results of research dealing with geodetic and cadastral aspects of utilizing space above and below the surface. The research is being conducted at the Geodetic Engineering Division of the Technion - Israel Institute of Technology, as part of the doctoral studies of the first author. The principal objectives of the research are to find a cadastral-geodetic solution for utilizing above and below surface space and for defining the characteristics of the future analytical, three-dimensional and multilayer cadastre that will replace the existing two-dimensional graphical surface cadastre in Israel. The research objectives are being realized by attaining the secondary research objectives: defining the future cadastral reality and developing a multilayer cadastral model; defining guidelines for transition from the surface cadastre to the multilayer cadastre; developing a model for registering property rights in all three spaces; developing models for managing multilayer cadastre information and creating the geodetic-cadastral background for a legal solution of utilizing all land space.