TY - GEN

T1 - Multi-robot fence patrol in adversarial domains

AU - Agmon, Noa

AU - Kraus, Sarit

AU - Kaminka, Gal A.

PY - 2008

Y1 - 2008

N2 - This paper considers the problem of multi-robot patrolling along an open polyline, for example a fence, in the presence of an adversary trying to penetrate through the fence. In this case, the robots' task is to maximize the probability of detecting penetrations. Previous work concerning multi-robot patrol in adversarial environments considered closed polygons. That situation is simpler to evaluate due to its symmetric nature. In contrast, if the robots patrol back and forth along a fence, then the frequency of their visits along the line is coherently non-uniform, making it easier to be exploited by an adversary. Moreover, previous work assumed perfect sensorial capabilities of the robots in the sense that if the adversary is in the sensorial range of the robot is will surely be detected. In this paper we address these two challenges. We first suggest a polynomial time algorithm for finding the probability of penetration detection in each point along the fence. We then show that by a small adjustment this algorithm can deal with the more realistic scenario, in which the robots have imperfect sensorial capabilities. Last, we demonstrate how the probability of penetration detection can be used as base for finding optimal patrol algorithms for the robots in both strong and weak adversarial environment.

AB - This paper considers the problem of multi-robot patrolling along an open polyline, for example a fence, in the presence of an adversary trying to penetrate through the fence. In this case, the robots' task is to maximize the probability of detecting penetrations. Previous work concerning multi-robot patrol in adversarial environments considered closed polygons. That situation is simpler to evaluate due to its symmetric nature. In contrast, if the robots patrol back and forth along a fence, then the frequency of their visits along the line is coherently non-uniform, making it easier to be exploited by an adversary. Moreover, previous work assumed perfect sensorial capabilities of the robots in the sense that if the adversary is in the sensorial range of the robot is will surely be detected. In this paper we address these two challenges. We first suggest a polynomial time algorithm for finding the probability of penetration detection in each point along the fence. We then show that by a small adjustment this algorithm can deal with the more realistic scenario, in which the robots have imperfect sensorial capabilities. Last, we demonstrate how the probability of penetration detection can be used as base for finding optimal patrol algorithms for the robots in both strong and weak adversarial environment.

KW - Adversarial/game domains

KW - Multi-robot systems

KW - Multirobot path planning

UR - http://www.scopus.com/inward/record.url?scp=84856472341&partnerID=8YFLogxK

U2 - 10.3233/978-1-58603-887-8-193

DO - 10.3233/978-1-58603-887-8-193

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AN - SCOPUS:84856472341

SN - 9781586038878

T3 - Intelligent Autonomous Systems 10, IAS 2008

SP - 193

EP - 201

BT - Intelligent Autonomous Systems 10, IAS 2008

T2 - 10th International Conference on Intelligent Autonomous Systems, IAS 2008

Y2 - 23 July 2008 through 25 July 2008

ER -