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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 NPHard, for certain values of k an optimal strategy can be found in polynomial time, and for others we suggest heuristics that can significantly improve the random baseline strategy.
Original language  English 

State  Published  2015 
Event  14th International Conference on Autonomous Agents and Multiagent Systems  Istanbul, Turkey Duration: 1 May 2015 → 1 May 2015 
Conference
Conference  14th International Conference on Autonomous Agents and Multiagent Systems 

Country/Territory  Turkey 
City  Istanbul 
Period  1/05/15 → 1/05/15 
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Dive into the research topics of 'Adversarial Modeling in the Robotic Coverage Problem'. Together they form a unique fingerprint.Activities
 2 Organizing a conference, workshop, ...

14th International Conference on Autonomous Agents and Multiagent Systems
Noa Agmon (Participant)
1 May 2015Activity: Participating in or organizing an event › Organizing a conference, workshop, ...

14th International Conference on Autonomous Agents and Multiagent Systems
Noa Agmon (Participant)
4 May 2015Activity: Participating in or organizing an event › Organizing a conference, workshop, ...