Evaluation of the effects of the intruder's behavioral change on the spatiotemporal coverage

This paper investigates the correctness of the spatiotemporal coverage as a suitable criterion for performance evaluation of a border patrolling algorithm. This criterion, which determines the probability of the intruder observation, shows the coverage of different points of the border during a period of time. Spatiotemporal coverage depends on the effective velocity of the intruder which means the magnitude of the instantaneous velocity perpendicular to the border. In the previous research, the maximum of the average velocity of the intruder is used to calculate the spatiotemporal coverage. Computing this criterion in this manner can’t show the effect of the behavior change of the intruder on the spatiotemporal coverage and wont provide a correct evaluation of the border patrolling capability of the system. This paper tries to represent a better assessment of the coverage using probability density function for the intruder's uncertain behaviors in selecting different passage times and speeds. Simulation result shows that the calculation of the spatiotemporal coverage with this approach provides a better evaluation of aerial surveillance capability in comparison to the traditional methods of coverage evaluation.