Adversarial modeling in the robotic coverage problem

Roi Yehoshua, Noa Agmon

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

11 Scopus citations

Abstract

The general problem of covering an area is a fundamental problem in robotics with applications in various domains. In a recently introduced version of the problem, adversarial coverage, the covering robot operates in an environment that contains threats that might stop it. Previous studies of this problem dealt with finding optimal strategies for the coverage, that minimize both the coverage time and the probability that the robot will be stopped before completing the coverage. However, these studies assumed a simplistic adversarial model, in which the threats are randomly scattered across the environment. In this paper, we allow the adversary to choose the locations of the threats in a way that maximizes the probability of stopping the robot performing the coverage. In other words, we discuss the problem of finding the best strategy to defend a given area from being covered by an agent, using k given guards. We show that although in general finding an optimal strategy for an adversary with zero knowledge is AfV-Haid, for certain values of A; an optimal strategy can be found in polynomial time, and for others we suggest heuristics that can significantly improve the random baseline strategy.

Original languageEnglish
Title of host publicationAAMAS 2015 - Proceedings of the 2015 International Conference on Autonomous Agents and Multiagent Systems
EditorsEdith Elkind, Gerhard Weiss, Pinar Yolum, Rafael H. Bordini
PublisherInternational Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)
Pages891-899
Number of pages9
ISBN (Electronic)9781450337700
StatePublished - 2015
Event14th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2015 - Istanbul, Turkey
Duration: 4 May 20158 May 2015

Publication series

NameProceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
Volume2
ISSN (Print)1548-8403
ISSN (Electronic)1558-2914

Conference

Conference14th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2015
Country/TerritoryTurkey
CityIstanbul
Period4/05/158/05/15

Bibliographical note

Publisher Copyright:
Copyright © 2015, International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.

Keywords

  • Adversarial coverage
  • Adversarial modeling
  • Mobile robot coverage
  • Motion and path planning
  • Robotics in hazardous fields

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