Multi-robot area patrol under frequency constraints

Abstract

Abstract-This paper discusses the problem of generating patrol paths for a team of mobile robots inside a designated target area. Patrolling requires an area to be visited repeatedly by the robot(s) in order to monitor its current state. First, we present frequency optimization criteria used for evaluation of patrol algorithms. We then present a patrol algorithm that guarantees maximal uniform frequency, i.e., each point in the target area is covered at the same optimal frequency. This solution is based on finding a circular path that visits all points in the area, while taking into account terrain directionality and velocity constraints. Robots are positioned uniformly along this path, using a second algorithm. Moreover, the solution is guaranteed to be robust in the sense that uniform frequency of the patrol is achieved as long as at least one robot works properly.

A Survey on Multi-robot Patrolling Algorithms

“…In [5] the area patrol algorithm developed guarantees that each point in the target area is covered at the same optimal frequency. This is done by computing minimalcosts cyclic patrol paths that visit all points in the target area, i.e.…”

“…MSP running on the patrolling simulator window [15] computing paths for every robot using a classical algorithm for Euler cycles and various heuristics for Hamiltonian cycles, non-Hamiltonian Cycles and Longest paths. The algorithm was compared to a cyclic algorithm, like the one presented in [5]. The MSP Algorithm scored slightly better results in half of the cases and obtained slightly worse results in the other half.…”

Multi-robot repeated area coverage

“…Moreover, we will investigate the effect of different representations of the target area and varying the robots' visual range on the performance of the repeated coverage algorithms with extensive experiments on a set of carefully selected maps. Elmaliach et al (2009) proposed a centralized algorithm which guarantees optimal uniform frequency, i.e., all cells are visited with maximal and uniform frequency in a non-uniform, grid environment. As mentioned above, gridbased representations have limitations in handling partially occluded cells or cover areas close to the boundaries in continuous spaces.…”

Uma Heurística para o Problema de Patrulhamento de Ambientes com múltiplos Agentes

“…Dessa forma, para que estratégias de patrulhamento sejam eficazes, agentes (humanos ou artificiais) necessitam estabelecer uma coordenação adequada entre si, para que locais de um dado ambiente sejam visitados repetidas vezes ao longo do período de monitoramento [1]. Uma das formas de um sistema de vigilância trabalhar com um ambiente a ser observado implica no conhecimento prévio de seu ambiente, ou seja, informações de disposição e conectividade dos ambientes são fornecidas com antecedência.…”

“…Um estudo comparativo entre estratégias de vigilância que representam o estado-da-arte foi apresentado em [3] em relação ao desempenho e a escalabilidade de cada uma delas. No trabalho de [4], um modelo de grafos com peso foi utilizado para obter caminhos hamiltonianos com menor custo. Em [5], encontram-se métodos que podem ser utilizados tanto para visitar o local, bem como efetuar a vigilância de determinadas regiões conhecidas e desconhecidas.…”