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.

Chaotic patrol robot with frequency constraints

“…So point visit frequency is a very important factor for a patrol strategy. There are certain, frequency-based performance criteria for frequency-based patrolling [10][11].…”

Adaptive Fuzzy Knowledge Based Controller for Autonomous Robot Motion Control

“…These values such as "slightly increasing" and fuzzy operators such as "and" are compiled into numerical objects and algorithms: Function tables, interpolation and comparators. Due to its easy use and its better performance; fuzzy logic control has become the most popular control tool for many researchers in the field of robotics control (Cardenas, 2004;Elmaliach et al, 2007;Martins-Filho and Macau, 2007;Ryu et al, 2006;Peri, 2002;Cho and Youn, 2006;Nakamura and Sekiguchi, 2001). For example in (Astudillo et al, 2006) the authors proposed an intelligent control of an autonomous mobile robot using Typ-2-Fuzzy Logic.…”

Distributed Multi-Agent Persistent Surveillance Under Temporal Logic Constraints

“…Alternatively, some auction algorithms are used in (Nigam and Kroo, 2008) to achieve region assignment among the agents to minimize the maximum age in the environment. Moreover, the authors of (Elmaliach et al, 2009) find a minimal Hamiltonian cyclic path and locate the robots properly on the path to obtain uniform frequency of visiting the viewpoints.…”