Autonomous Multi-agent Cycle Based Patrolling

Elor, Yotam; Bruckstein, Alfred M.

doi:10.1007/978-3-642-15461-4_11

Cited by 21 publications

(8 citation statements)

References 13 publications

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“…Research on this problem was initiated at the MITACS "International Problem Solving Workshop" held on July [16][17][18][19][20] 2012, in Vancouver, BC, Canada. The authors would like to express their deepest appreciation for the generous support of MITACS.…”

Section: Acknowledgementsmentioning

confidence: 99%

When Patrolmen Become Corrupted: Monitoring a Graph Using Faulty Mobile Robots

Czyzowicz

Gąsieniec

Kosowski

et al. 2015

Algorithms and Computation

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Abstract. A team of k mobile robots is deployed on a weighted graph whose edge weights represent distances. The robots perpetually move along the domain, represented by all points belonging to the graph edges, not exceeding their maximal speed. The robots need to patrol the graph by regularly visiting all points of the domain. In this paper, we consider a team of robots (patrolmen), at most f of which may be unreliable, i.e. they fail to comply with their patrolling duties.What algorithm should be followed so as to minimize the maximum time between successive visits of every edge point by a reliable patrolmen? The corresponding measure of efficiency of patrolling called idleness has been widely accepted in the robotics literature. We extend it to the case of untrusted patrolmen; we denote by f k (G) the maximum time that a point of the domain may remain unvisited by reliable patrolmen. The objective is to find patrolling strategies minimizing f k (G). We investigate this problem for various classes of graphs. We design optimal algorithms for line segments, which turn out to be surprisingly different from strategies for related patrolling problems proposed in the literature. We then use these results to study the case of general graphs. For Eulerian graphs G, we give an optimal patrolling strategy with idleness f k (G) = (f + 1)|E|/k, where |E| is the sum of the lengths of the edges of G. Further, we show the hardness of the problem of computing the idle time for three robots, at most one of which is faulty, by reduction from 3-edge-coloring of cubic graphs -a known NP-hard problem. A byproduct of our proof is the investigation of classes of graphs minimizing idle time (with respect to the total length of edges); an example of such a class is known in the literature under the name of Kotzig graphs.

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Section: Acknowledgementsmentioning

confidence: 99%

When Patrolmen Become Corrupted: Monitoring a Graph Using Faulty Mobile Robots

Czyzowicz

Gąsieniec

Kosowski

et al. 2015

Algorithms and Computation

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“…Some papers study patrolling based on swarm or ant-based algorithms (cf. [18,26,36]) and explore various robot capabilities (sensing, memory, locomotion, etc). The skeletonization technique, where a terrain is first partitioned into cells is often applied in geometric environments prior to employing graph-theoretic methods in discrete time.…”

Section: Related Workmentioning

confidence: 99%

Optimal patrolling of fragmented boundaries

Collins

Czyzowicz

Gąsieniec

et al. 2013

Proceedings of the Twenty-Fifth Annual ACM Symposium on Parallelism in Algorithms and Architectures

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A set of mobile robots is deployed on a simple curve of finite length, composed of a finite set of vital segments separated by neutral segments. The robots have to patrol the vital segments by perpetually moving on the curve, without exceeding their maximum speed. The quality of patrolling is measured by the idleness, i.e., the longest time period during which any vital point on the curve is not visited by any robot. Given a configuration of vital segments, our goal is to provide algorithms describing the movement of the robots along the curve so as to minimize the idleness.Our main contribution is a proof that the optimal solution to the patrolling problem is attained either by the cyclic strategy, in which all the robots move in one direction around the curve, or by the partition strategy, in which the curve is partitioned into sections which are patrolled separately by individual robots. These two fundamental types of strategies were studied in the past in the robotics community in different theoretical and experimental settings. However, to our knowledge, this is the first theoretical analysis proving optimality in such a general scenario. Throughout the paper we assume that all robots have the same maximum speed. In fact, the claim is known to be invalid when this assumption does not hold, cf. [Czyzowicz et al., Proc. ESA 2011].

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“…Patrolling as a game between patrollers and intruder is studied in Alpern et al [2009Alpern et al [ , 2011, Amigoni et al [2010]. Elsewhere patrolling is studied based on swarm or ant-based algorithms Elor and Bruckstein [2010], Marino et al [2009], Yanovski et al [2003]. Robots are memoryless (or having small memory), decentralized Marino et al [2009] with no explicit communication permitted either with other robots or the central station, and may have local sensing capabilities Elor and Bruckstein [2010].…”

Section: Patrollingmentioning

confidence: 99%

“…Elsewhere patrolling is studied based on swarm or ant-based algorithms Elor and Bruckstein [2010], Marino et al [2009], Yanovski et al [2003]. Robots are memoryless (or having small memory), decentralized Marino et al [2009] with no explicit communication permitted either with other robots or the central station, and may have local sensing capabilities Elor and Bruckstein [2010]. Ant-like algorithms usually mark the visited nodes of the graph and Yanovski et al [2003] presents an evolutionary process.…”

Section: Patrollingmentioning

confidence: 99%

Searching with Two-Speed Autonomous Mobile Robots

MacQuarrie¹

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We introduce and study various search problems using mobile robots. Specifically we study the problems of exploration and patrolling using a new two-speed model of robots, as well as studying the problems of rendezvous and evacuation using a more traditional one-speed model of mobile robots. The problems are executed on a continuous finite domain by a swarm of n robots r 1 , r 2 , . . . , r n . For the two-speed model, each robot r i has a walking speed w i and a searching speed s i , where s i < w i . At each moment a

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Autonomous Multi-agent Cycle Based Patrolling

Cited by 21 publications

References 13 publications

When Patrolmen Become Corrupted: Monitoring a Graph Using Faulty Mobile Robots

When Patrolmen Become Corrupted: Monitoring a Graph Using Faulty Mobile Robots

Optimal patrolling of fragmented boundaries

Searching with Two-Speed Autonomous Mobile Robots

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