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A Surveillance System based on Audio and Video Sensory Agents cooperating with a Mobile Robot Emanuele Menegatti 2, Enzo Mumolo 1, Massimiliano Nolich 1, Enrico Pagello 2,3 1 Smartlab Department of Electrotechnics, Electronics and Computer Science, The University of Trieste, Italy 2 Intelligent Autonomous Systems Laboratory (IAS-Lab) Department of Information Engineering The University of Padua, Italy 3 also with: Institute ISIB of CNR, Padua, Italy Abstract 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 com- posed of an omnidirectional vision system and a mobile robot. The mobile agents greatly increase the ?exibility of the surveillance system with respect to traditional surveillance sys- tems, 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 ?eld of view of the ?x 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 1 Introduction In this paper, we present our current project on the development of an intelligent surveillance system that uses both mobile and ?x surveillance agents. The scenario of application is the monitoring of a room or a multi room environment with a dynamic structure, e.g. the storage room of a shipping company where the position of piles of boxes can change day after day. In this case most of the traditional surveillance systems, e.