Random walks on weighted graphs and applications to on-line algorithms
Journal of the ACM (JACM)
Davenport-Schinzel sequences and their geometric applications
Davenport-Schinzel sequences and their geometric applications
Two Fast Algorithms for Sparse Matrices: Multiplication and Permuted Transposition
ACM Transactions on Mathematical Software (TOMS)
Distributed Algorithms
Evolving Beharioral Strategies in Predators and Prey
IJCAI '95 Proceedings of the Workshop on Adaption and Learning in Multi-Agent Systems
Theoretical Analysis of the Multi-agent Patrolling Problem
IAT '04 Proceedings of the IEEE/WIC/ACM International Conference on Intelligent Agent Technology
An efficient heuristic approach for security against multiple adversaries
Proceedings of the 6th international joint conference on Autonomous agents and multiagent systems
A realistic model of frequency-based multi-robot polyline patrolling
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 1
Probabilistic Multiagent Patrolling
SBIA '08 Proceedings of the 19th Brazilian Symposium on Artificial Intelligence: Advances in Artificial Intelligence
Multiagent Technology Solutions for Planning in Ambient Intelligence
WI-IAT '08 Proceedings of the 2008 IEEE/WIC/ACM International Conference on Web Intelligence and Intelligent Agent Technology - Volume 02
Leader-follower strategies for robotic patrolling in environments with arbitrary topologies
Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
Effective solutions for real-world Stackelberg games: when agents must deal with human uncertainties
Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
WI-IAT '09 Proceedings of the 2009 IEEE/WIC/ACM International Joint Conference on Web Intelligence and Intelligent Agent Technology - Volume 02
Multi-robot area patrol under frequency constraints
Annals of Mathematics and Artificial Intelligence
Cooperative Large Area Surveillance with a Team of Aerial Mobile Robots for Long Endurance Missions
Journal of Intelligent and Robotic Systems
Introducing alarms in adversarial patrolling games: extended abstract
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
Distributed multi-robot patrol: A scalable and fault-tolerant framework
Robotics and Autonomous Systems
Journal of Intelligent and Robotic Systems
Hi-index | 0.00 |
The problem of adversarial multi-robot patrol has gained interest in recent years, mainly due to its immediate relevance to various security applications. In this problem, robots are required to repeatedly visit a target area in a way that maximizes their chances of detecting an adversary trying to penetrate through the patrol path. When facing a strong adversary that knows the patrol strategy of the robots, if the robots use a deterministic patrol algorithm, then in many cases it is easy for the adversary to penetrate undetected (in fact, in some of those cases the adversary can guarantee penetration). Therefore this paper presents a non-deterministic patrol framework for the robots. Assuming that the strong adversary will take advantage of its knowledge and try to penetrate through the patrol's weakest spot, hence an optimal algorithm is one that maximizes the chances of detection in that point. We therefore present a polynomial-time algorithm for determining an optimal patrol under the Markovian strategy assumption for the robots, such that the probability of detecting the adversary in the patrol's weakest spot is maximized. We build upon this framework and describe an optimal patrol strategy for several robotic models based on their movement abilities (directed or undirected) and sensing abilities (perfect or imperfect), and in different environment models - either patrol around a perimeter (closed polygon) or an open fence (open polyline).