Distributed Online Patrolling with Multi-agent Teams of Sentinels and Searchers

被引：8

作者：

Basilico, Nicola ^{[1
]}

Chung, Timothy H. ^{[2
]}

Carpin, Stefano ^{[3
]}

机构：

[1] Univ Milan, Milan, Italy

[2] Naval Postgrad Sch, Monterey, CA USA

[3] Univ Calif, Merced, CA USA

来源：

DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS | 2016年 / 112卷

关键词：

Surveillance; Variable resolution search; Cooperative robots;

D O I：

10.1007/978-4-431-55879-8_1

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We consider the problem of patrolling an assigned area using a team of heterogeneous robots consisting of sentinels and searchers in the presence of stochastic arrivals of attacks. Sentinels and searchers operate using a different sensor model featuring a tradeoff between accuracy and the sensed area. Using an approach based on queuing theory, we derive an accurate analytic characterization of the patrolling performance that can be used to predict the behavior of a given configuration or inform the composition of a team in order to meet a desired target performance. Extensive simulation results corroborate our theoretical findings.

引用

页码：3 / 16

页数：14

共 14 条

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[2]

[Anonymous], 2013, Symposium on Applied Computing (SAC'13), DOI [DOI 10.1145/2480362.2480378, 10.1145/2480362.2480378]

[3]

Basilico N, 2012, IEEE INT CONF ROBOT, P2163, DOI 10.1109/ICRA.2012.6224802

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Bullo F, 2009, PRINC SER APPL MATH, P1

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[8]

Chung TH, 2011, IEEE INT CONF ROBOT, P2546, DOI 10.1109/ICRA.2011.5980262

[9]

Enright JJ, 2012, P AMER CONTR CONF, P683

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