Fuzzy logic decision making for multi-robot security systems

Authors:
Malrey Lee;Mahmoud Tarokh;Matthew Cross
Affiliations:
The Research Center of Industrial Technology, School of Electronics & Information Engineering, ChonBuk National University, JeonJu, ChonBuk, South Korea 561-756;Department of Computer Science, San Diego State University, San Diego, USA 92128-7720;Department of Computer Science, San Diego State University, San Diego, USA 92128-7720
Venue:
Artificial Intelligence Review
Year:
2010

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Abstract

The paper proposes a fuzzy logic decision making system for security robots that deals with multiple tasks with dynamically changing scene. The tasks consist of patrolling the environment, inspecting for missing items, chasing and disabling intruders, and guarding the area. The decision making considers robot limitations such as maximum floor coverage per robot and remaining robot battery energy, as well as cooperation among robots to complete the mission. Each robot agent makes its own decision based on its internal information as well as information broadcast to it by other robots about events such as intruder sighting. As a result the multi-robot security system is distributive without a central coordinator. The system has been implemented both in simulations and on actual robots and its performance has been verified under different scenarios.