Positioning a set of vehicles

A computer program product comprising one or more non-transitory machine-readable mediums encoded with instructions which, when executed by one or more processors, cause a process to be carried out for positioning a set of vehicles with respect to an object and a set of targets, the process comprising:

• generating an isovist using data obtained from at least one sensor associated with the object;
• using the isovist to compute an estimated position in an environment of each target of the set of targets with respect to the object;
• computing a plurality of positions in the environment for each vehicle of the set of vehicles based on the estimated positions of the targets, each position of the plurality of positions having an associated value representing a number of the targets at their estimated positions that are within a predetermined proximity of the vehicle at that position;
• and
• selecting a subset of the positions from the plurality of positions based on the associated values.

A system adapted to position a set of vehicles with respect to an object and a set of targets, the system comprising at least one processor configured to:

• generate an isovist using data obtained from at least one sensor associated with the object;
• use the isovist to compute an estimated position in an environment of each target of the set of targets with respect to the object;
• compute a plurality of positions in the environment for each vehicle of the set of vehicles based on the estimated positions of the targets, each position of the plurality of positions having an associated value representing a number of the targets at their estimated positions that are within a predetermined proximity of the vehicle at that position;
• select a subset of the positions from the plurality of positions based on the associated values;
• and
• position the set of vehicles based on the selected subset of the positions.