Multi-robot adversarial patrolling: Handling sequential attacks

Efrat Sless Lin, Noa Agmon, Sarit Kraus

Research output: Contribution to journalArticlepeer-review

14 Scopus citations

Abstract

Robot teams are commonly used for security tasks, where they are required to repeatedly monitor an area in order to prevent penetrations, initiated by an adversary. Current research in this field focuses mainly on detecting penetration attempts, but not on responding. Requiring the robots to also inspect and handle the penetrations has a significant impact on the patrol, as each penetration attempt also influences the robots' behavior, making them vulnerable to multiple attacks. Moreover, a knowledgeable adversary can initiate two sequential attacks, where the second attempt exploits the vulnerable points caused by the requirement that a robot handle the first penetration attempt. In this work, we consider the problem of sequential attacks and examine different robot policies against such adversarial behavior. We provide an optimal patrol strategy for various penetration attempt patterns. Our novel approach considers a full history-length policy, while previous work only handled very limited lengths of history. The use of a longer history improves the results. Moreover, we show how to significantly reduce, in practice, the exponential space state of the problem, while maintaining the optimality of the solution.

Original languageEnglish
Pages (from-to)1-25
Number of pages25
JournalArtificial Intelligence
Volume274
DOIs
StatePublished - Sep 2019

Bibliographical note

Publisher Copyright:
© 2019 Elsevier B.V.

Funding

This research has been supported in part by the Ministry of Science and Technology, Israel and the Japan Science and Technology Agency (JST), Japan, and by ISF grant 1337/15. This research has been supported in part by the Ministry of Science and Technology, Israel and the Japan Science and Technology Agency (JST), Japan, and by ISF grant 1337/15 .

FundersFunder number
Iowa Science Foundation
Japan Science and Technology Agency
Israel Science Foundation1337/15
Ministry of science and technology, Israel

    Keywords

    • Adversarial modeling
    • Multi-robot patrolling

    Fingerprint

    Dive into the research topics of 'Multi-robot adversarial patrolling: Handling sequential attacks'. Together they form a unique fingerprint.

    Cite this