Multi-robot patrol

Yan, Chungang; Zhang, Tao

doi:10.1177/1729881416663666

Cited by 28 publications

(21 citation statements)

References 23 publications

(40 reference statements)

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“…Intruders move radially toward the target center to breach the target boundary while the defender is tasked to capture as many intruders as possible. Based on the available information to the defender, it computes the capturability of an intruder 1 A short simulation video is available at https://drive.google.com/ drive/folders/1Gz6L53BLB6qwfLYzvQDr5LeQEoXwsEya?usp=sharing.…”

Section: Discussionmentioning

confidence: 99%

“…In this paper, we study a circular target-defence game between a single defender and a team of sequentially arriving intruders. This problem has been found useful in multi-robot applications such as patrolling [1], area monitoring [2], area securing [3], coastline defense [4] and has motivated a great amount of research e.g., see [5] for a review on this topic.…”

Section: Introductionmentioning

confidence: 99%

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Target Defense against Sequentially Arriving Intruders

Pourghorban

Dorothy

Shishika

et al. 2022

2022 IEEE 61st Conference on Decision and Control (CDC)

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We consider a variant of pursuit-evasion games where a single defender is tasked to defend a static target from a sequence of periodically arriving intruders. The intruders' objective is to breach the boundary of a circular target without being captured and the defender's objective is to capture as many intruders as possible. At the beginning of each period, a new intruder appears at a random location on the perimeter of a fixed circle surrounding the target and moves radially towards the target center to breach the target. The intruders are slower in speed compared to the defender and they have their own sensing footprint through which they can perfectly detect the defender if it is within their sensing range. Considering the speed and sensing limitations of the agents, we analyze the entire game by dividing it into partial information and full information phases. We address the defender's capturability using the notions of engagement surface and capture circle. We develop and analyze three efficient strategies for the defender and derive a lower bound on the capture fraction. Finally, we conduct a series of simulations and numerical experiments to compare and contrast the three proposed approaches.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Target Defense against Sequentially Arriving Intruders

Pourghorban

Dorothy

Shishika

et al. 2022

2022 IEEE 61st Conference on Decision and Control (CDC)

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“…A central coordinator is used to assign new goal node to the robots after the designed path is unavailable. Yan et al [5] designed a frequency-based patrol algorithm. They utilized shared information to calculate expected idleness to solve decision conflicts.…”

Section: Related Workmentioning

confidence: 99%

“…Classic patrol tasks are divided into two categories. One is that all agents need to visit all vertices in the designated work region [2][3][4][5]. The other one is that the work region is partitioned into several sub-regions [6][7][8][9], and the agents are allocated to work only in one of the sub-regions without dynamic regional deployment.…”

Section: Introductionmentioning

confidence: 99%

Hybrid Partition-Based Patrolling Scheme for Maritime Area Patrol with Multiple Cooperative Unmanned Surface Vehicles

Xie

Zhou

Luo

et al. 2020

JMSE

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Multi-robot cooperative patrolling systems have been extensively employed in the civilian and military fields, including monitoring forest fires, marine search-and-rescue, and area patrol. Multi-robot area patrol problems refer to the activity that a team of robots works cooperatively and regularly to visit the key targets in the given area for security. Following consideration of the low cost and high safety of unmanned surface vehicles (USV), a team of USVs is organized to perform area patrol in a sophisticated maritime environment. In this paper, we establish a mathematical model considering the characteristics of the cooperative patrol task and the limited conditions of USVs. A hybrid partition-based patrolling scheme is proposed for a multi-USV system to visit targets with different importance levels in a maritime area. Firstly, a centralized area partition algorithm is utilized to partition the patrolling area according to the number of USVs. Secondly, a distributed path planning algorithm is applied to planning the patrolling path for each USV to visit the targets in a maritime environment to minimize the length of the patrolling path for the USV team. Finally, comparative experiments between the proposed scheme and other methods are carried out to validate the performance of the hybrid partition-based patrolling scheme. Simulation results and experimental analysis show the efficiency of the proposed hybrid partition-based patrolling scheme compared to several previous patrolling algorithms.

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“…Pursuit-Evasion games [1] have been applied to investigate a wide class of civilian and military applications involving multi-agent interactions in adversarial scenarios [2,3,4]. In its simplest form the game involves a pursuing player that is tasked to capture an evading player before either the evader reaches its destination or the pursuer runs out of fuel.…”

Section: Introductionmentioning

confidence: 99%

Optimal Intermittent Sensing for Pursuit-Evasion Games

Maity¹

2023

Preprint

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We consider a class of pursuit-evasion differential games in which the evader has continuous access to the pursuer's location, but not vice-versa. There is a remote sensor (e.g., a radar station) that can sense the evader's location upon a request from the pursuer and communicate that sensed location to the pursuer. The pursuer has a budget on the total number of sensing requests. The outcome of the game is determined by the sensing and motion strategies of the players. We obtain an equilibrium sensing strategy for the pursuer and an equilibrium motion strategy for the evader. We quantify the degradation in the pursuer's pay-off due to its sensing limitations.

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Multi-robot patrol

Cited by 28 publications

References 23 publications

Target Defense against Sequentially Arriving Intruders

Target Defense against Sequentially Arriving Intruders

Hybrid Partition-Based Patrolling Scheme for Maritime Area Patrol with Multiple Cooperative Unmanned Surface Vehicles

Optimal Intermittent Sensing for Pursuit-Evasion Games

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