Extending Algorithms for Mobile Robot Patrolling in the Presence of Adversaries to More Realistic Settings

Basilico, Nicola; Gatti, Nicola; Rossi, Thomas; Ceppi, Sofia; Amigoni, Francesco

doi:10.1109/wi-iat.2009.211

Cited by 35 publications

(21 citation statements)

References 9 publications

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“…To accomplish this transition, we outlined novel contributions to game modeling and compact representations of games, because of the scale-up in defender and attacker strategies. This research complements other solution techniques for Stackelberg games [5,10], which have traditionally not focused on such a scale-up. Our work also complements research actually applied to randomize patrolling strategies in robot patrol [3,4], given our emphasis on modeling adversaries in a game-theoretic setting.…”

Section: Related Work and Summarymentioning

confidence: 70%

GUARDS: Game-Theoretic Security Allocation on a National Scale

Pita¹,

Tambe

Kiekintveld³

et al. 2011

Security and Game Theory

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Building on research previously reported at AAMAS conferences, this paper describes an innovative application of a novel gametheoretic approach for a national scale security deployment. Working with the United States Transportation Security Administration (TSA), we have developed a new application called GUARDS to assist in resource allocation tasks for airport protection at over 400 United States airports. In contrast with previous efforts such as AR-MOR and IRIS, which focused on one-off tailored applications and one security activity (e.g. canine patrol or checkpoints) per application, GUARDS faces three key issues: (i) reasoning about hundreds of heterogeneous security activities; (ii) reasoning over diverse potential threats; (iii) developing a system designed for hundreds of end-users. Since a national deployment precludes tailoring to specific airports, our key ideas are: (i) creating a new game-theoretic framework that allows for heterogeneous defender activities and compact modeling of a large number of threats; (ii) developing an efficient solution technique based on general purpose Stackelberg game solvers; (iii) taking a partially centralized approach for knowledge acquisition and development of the system. In doing so we develop a software scheduling assistant, GUARDS, designed to reason over two agents -the TSA and a potential adversaryand allocate the TSA's limited resources across hundreds of security activities in order to provide protection within airports.The scheduling assistant has been delivered to the TSA and is currently under evaluation and testing for scheduling practices at an undisclosed airport. If successful, the TSA intends to incorporate the system into their unpredictable scheduling practices nationwide. In this paper we discuss the design choices and challenges encountered during the implementation of GUARDS. GUARDS represents promising potential for transitioning years of academic research into a nationally deployed system.

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Section: Related Work and Summarymentioning

confidence: 70%

GUARDS: Game-Theoretic Security Allocation on a National Scale

Pita¹,

Tambe

Kiekintveld³

et al. 2011

Security and Game Theory

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show abstract

“…A common mechanism for modeling patrolling behavior is game theory, where the robots and intruder(s) are the participants in the game, with the strategy of the intruder to avoid detection and the strategy of the robots their control system(s). 72,73 A second application is complete environmental coverage control or region filling control, where the team of robots is Fig. 16. (Colour online) Potential field-based path planning: (a) potential field of map known ab initio, (b) path generated based on potential field between two points.…”

Section: Coordination Controlmentioning

confidence: 99%

Mapping, localization and motion planning in mobile multi-robotic systems

Rone

Ben-Tzvi

2012

Robotica

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As researchers have pushed the limits of what can be accomplished by a single robot operating in a known or unknown environment, a greater emphasis has been placed on the utilization of mobile multi-robotic systems to accomplish various objectives. In transitioning from a robot-centric approach to a system-centric approach, considerations must be made for the computational and communicative aspects of the group as a whole, in addition to electromechanical considerations of individual robots. This paper reviews the state-of-the-art of mobile multi-robotic system research, with an emphasis on the confluence of mapping, localization and motion control of robotic system. Methods that compose these three topics are presented, including areas of overlap, such as integrated exploration and simultaneous localization and mapping. From these methods, an analysis of benefits, challenges and tradeoffs associated with multi-robotic system design and use are presented. Finally, specific applications of multi-robotic systems are also addressed in various contexts.

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“…Based on a similar idea, in [7] a technique to reduce the patrolling graph to multiple spanning trees, assigning a spanning tour around each tree was recently presented. In contrast, many authors have proposed new algorithms for multi-robot patrolling based on other concepts, like task allocation [8], negotiation mechanisms [9], swarm intelligence [10], neural networks [11] or game theory [12]. For a more complete survey of multirobot patrolling strategies, the interested reader is referred to [13].…”

Section: Related Workmentioning

confidence: 99%

Measuring Variables Effect to Statistically Model the Multi-Robot Patrolling Problem by Means of ANOVA

Portugal

Rocha

2012

Technological Innovation for Value Creation

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Abstract. This paper focuses on analyzing extensive results generated from running diverse multi-robot patrolling algorithms with different configurations towards measuring the influence of the variables of the general problem. In order to do this, a statistical technique by the name of Analysis of Variance (ANOVA) is employed to compare the parameters and identify the ones which give raise to the total dispersion of the data set, at the same time accessing their contribution to the obtained results. It is shown that by applying such technique, it is possible to compute a data-related model for the Multi-Robot Patrolling Problem (MRPP).

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Extending Algorithms for Mobile Robot Patrolling in the Presence of Adversaries to More Realistic Settings

Cited by 35 publications

References 9 publications

GUARDS: Game-Theoretic Security Allocation on a National Scale

GUARDS: Game-Theoretic Security Allocation on a National Scale

Mapping, localization and motion planning in mobile multi-robotic systems

Measuring Variables Effect to Statistically Model the Multi-Robot Patrolling Problem by Means of ANOVA

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