Multi-robot perimeter patrol in adversarial settings

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

217 Scopus citations

Abstract

This paper considers the problem of multi-robot patrol around a closed area with the existence of an adversary attempting to penetrate into the area. In case the adversary knows the patrol scheme of the robots and the robots use a deterministic patrol algorithm, then in many cases it is possible to penetrate with probability 1. Therefore this paper considers a non-deterministic patrol scheme for the robots, such that their movement is characterized by a probability p. This patrol scheme allows reducing the probability of penetration, even under an assumption of a strong opponent that knows the patrol scheme. We offer an optimal polynomial-time algorithm for finding the probability p such that the minimal probability of penetration detection throughout the perimeter is maximized. We describe three robotic motion models, defined by the movement characteristics of the robots. The algorithm described herein is suitable for all three models.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages2339-2345
Number of pages7
DOIs
StatePublished - 2008
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 19 May 200823 May 2008

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country/TerritoryUnited States
CityPasadena, CA
Period19/05/0823/05/08

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