TY - GEN
T1 - A realistic model of frequency-based multi-robot polyline patrolling
AU - Elmaliach, Yehuda
AU - Shiloni, Asaf
AU - Kaminka, Gal A.
PY - 2008
Y1 - 2008
N2 - There is growing interest in multi-robot frequency-based patrolling, in which a team of robots optimizes its frequency of point visits, for every point in a target work area. In particular, recent work on patrolling of open polygons (e.g., open-ended fences) has proposed a general cooperative patrolling algorithm, in which robots move back and forth along the polygon, in an synchronized manner, such that their assigned areas of movement overlap. If the overlap factor is carefully chosen - based on the motion models of the robots - specific performance criteria are optimized. Unfortunately, previous work has presented analysis of motion models in which there are no errors in the movement of the robots, and no velocity changes. We go a step beyond existing work, and develop a realistic model of robot motion, that considers velocity uncertainties. We mathematically analyze the model and show how to use it to find optimal patrolling parameters, given known bounds of uncertainty on the motion. We then use the model to analyze the independently-programmed patrolling movements of physical robots, in extensive experiments. We show that the model predicts the behavior of the robots much more accurately than previously-described models.
AB - There is growing interest in multi-robot frequency-based patrolling, in which a team of robots optimizes its frequency of point visits, for every point in a target work area. In particular, recent work on patrolling of open polygons (e.g., open-ended fences) has proposed a general cooperative patrolling algorithm, in which robots move back and forth along the polygon, in an synchronized manner, such that their assigned areas of movement overlap. If the overlap factor is carefully chosen - based on the motion models of the robots - specific performance criteria are optimized. Unfortunately, previous work has presented analysis of motion models in which there are no errors in the movement of the robots, and no velocity changes. We go a step beyond existing work, and develop a realistic model of robot motion, that considers velocity uncertainties. We mathematically analyze the model and show how to use it to find optimal patrolling parameters, given known bounds of uncertainty on the motion. We then use the model to analyze the independently-programmed patrolling movements of physical robots, in extensive experiments. We show that the model predicts the behavior of the robots much more accurately than previously-described models.
KW - Motion planning
KW - Multi-robot path planning
KW - Multi-robotics
KW - Team planning
UR - http://www.scopus.com/inward/record.url?scp=84899956149&partnerID=8YFLogxK
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AN - SCOPUS:84899956149
SN - 9781605604701
T3 - Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
SP - 64
EP - 71
BT - 7th International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS 2008
PB - International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)
T2 - 7th International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS 2008
Y2 - 12 May 2008 through 16 May 2008
ER -