A Fast and High Quality Multilevel Scheme for Partitioning Irregular Graphs
SIAM Journal on Scientific Computing
Heuristics for determining a patrol path of an unmanned combat vehicle
Computers and Industrial Engineering
Solving the longest simple path problem with constraint-based techniques
CPAIOR'12 Proceedings of the 9th international conference on Integration of AI and OR Techniques in Constraint Programming for Combinatorial Optimization Problems
Performance based task assignment in multi-robot patrolling
Proceedings of the 28th Annual ACM Symposium on Applied Computing
Distributed multi-robot patrol: A scalable and fault-tolerant framework
Robotics and Autonomous Systems
Expert Systems with Applications: An International Journal
| Hi-index | 0.00 |
This article addresses the problem of efficient multi-robot patrolling in a known environment. The proposed approach assigns regions to each mobile agent. Every region is represented by a subgraph extracted from the topological representation of the global environment. A new algorithm is proposed in order to deal with the local patrolling task assigned for each robot, named Multilevel Subgraph Patrolling (MSP) Algorithm. It handles some major graph theory classic problems like graph partitioning, Hamilton cycles, non-Hamilton cycles and longest path searches. The flexible, scalable, robust and high performance nature of this approach is testified by simulation results.