Art gallery theorems and algorithms
Art gallery theorems and algorithms
Coherent cooperation among communicating problem solvers
IEEE Transactions on Computers
The searchlight scheduling problem
SIAM Journal on Computing
Searching for a mobile intruder in a polygonal region
SIAM Journal on Computing
Efficient geometric algorithms for robot sensing and control
Efficient geometric algorithms for robot sensing and control
Lazy learning
On being a teammate: experiences acquired in the design of RoboCup teams
Proceedings of the third annual conference on Autonomous Agents
Evolving Beharioral Strategies in Predators and Prey
IJCAI '95 Proceedings of the Workshop on Adaption and Learning in Multi-Agent Systems
Adaptation and Learning in Multi-Agent Systems: Some Remarks and a Bibliography
IJCAI '95 Proceedings of the Workshop on Adaption and Learning in Multi-Agent Systems
VQQL. Applying Vector Quantization to Reinforcement Learning
RoboCup-99: Robot Soccer World Cup III
Interaction and intelligent behavior
Interaction and intelligent behavior
International Journal of Robotics Research
Tunably decentralized algorithms for cooperative target observation
Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems
MASON: A Multiagent Simulation Environment
Simulation
Cooperative Multi-Agent Learning: The State of the Art
Autonomous Agents and Multi-Agent Systems
A Reinforcement Learning Algorithm in Cooperative Multi-Robot Domains
Journal of Intelligent and Robotic Systems
Issues in the scaling of multi-robot systems for general problem solving
Autonomous Robots
Market-Based Distributed Task Selection in Multi-agent Swarms
IAT '06 Proceedings of the IEEE/WIC/ACM international conference on Intelligent Agent Technology
Multi-robot mobility enhanced hop-count based localization in ad hoc networks
Robotics and Autonomous Systems
A framework for guaranteeing detection performance of a sensor network
Integrated Computer-Aided Engineering - Performance Metrics for Intelligent Systems
Collaborative Multiagent Reinforcement Learning by Payoff Propagation
The Journal of Machine Learning Research
Surveillance Strategies for a Pursuer with Finite Sensor Range
International Journal of Robotics Research
Cooperative Observation of Multiple Moving Targets: an algorithm and its formalization
International Journal of Robotics Research
Auction-based multi-robot task allocation in COMSTAR
Proceedings of the 6th international joint conference on Autonomous agents and multiagent systems
Dynamic Pricing Algorithms for Task Allocation in Multi-agent Swarms
Massively Multi-Agent Technology
Task allocation via self-organizing swarm coalitions in distributed mobile sensor network
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Keeping in touch: maintaining biconnected structure by homogeneous robots
AAAI'06 Proceedings of the 21st national conference on Artificial intelligence - Volume 1
Learning and multiagent reasoning for autonomous agents
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Multi-agent robot systems as distributed autonomous systems
Advanced Engineering Informatics
Distributed task selection in multi-agent based swarms using heuristic strategies
SAB'06 Proceedings of the 2nd international conference on Swarm robotics
Pursuit-evasion on trees by robot teams
IEEE Transactions on Robotics
Interrobot transformations in 3-D
IEEE Transactions on Robotics
Fuzzy logic decision making for multi-robot security systems
Artificial Intelligence Review
Following a large unpredictable group of targets among obstacles
MIG'10 Proceedings of the Third international conference on Motion in games
Tracking an omnidirectional evader with a differential drive robot
Autonomous Robots
A cell decomposition approach to visibility-based pursuit evasion among obstacles
International Journal of Robotics Research
Ground Target Detection Using Cooperative Unmanned Aerial Systems
Journal of Intelligent and Robotic Systems
Automatic behavior pattern classification for social robots
HAIS'10 Proceedings of the 5th international conference on Hybrid Artificial Intelligence Systems - Volume Part I
Multi-robot learning for continuous area sweeping
LAMAS'05 Proceedings of the First international conference on Learning and Adaption in Multi-Agent Systems
Decision making as optimization in multi-robot teams
ICDCIT'12 Proceedings of the 8th international conference on Distributed Computing and Internet Technology
Market-based framework for mobile surveillance systems
AIS'12 Proceedings of the Third international conference on Autonomous and Intelligent Systems
Engineering Applications of Artificial Intelligence
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An important issue that arises in the automation of many security, surveillance, and reconnaissance tasks is that of observing the movements of targets navigating in a bounded area of interest. A key research issue in these problems is that of sensor placement—determining where sensors should be located to maintain the targets in view. In complex applications involving limited-range sensors, the use of multiple sensors dynamically moving over time is required. In this paper, we investigate the use of a cooperative team of autonomous sensor-based robots for the observation of multiple moving targets. In other research, analytical techniques have been developed for solving this problem in complex geometrical environments. However, these previous approaches are very computationally expensive—at least exponential in the number of robots—and cannot be implemented on robots operating in real-time. Thus, this paper reports on our studies of a simpler problem involving uncluttered environments—those with either no obstacles or with randomly distributed simple convex obstacles. We focus primarily on developing the on-line distributed control strategies that allow the robot team to attempt to minimize the total time in which targets escape observation by some robot team member in the area of interest. This paper first formalizes the problem (which we term CMOMMT for iCooperative Multi-Robot Observation of Multiple Moving Targets) and discusses related work. We then present a distributed heuristic approach (which we call A-CMOMMT) for solving the CMOMMT problem that uses weighted local force vector control. We analyze the effectiveness of the resulting weighted force vector approach by comparing it to three other approaches. We present the results of our experiments in both simulation and on physical robots that demonstrate the superiority of the A-CMOMMT approach for situations in which the ratio of targets to robots is greater than 1/2. Finally, we conclude by proposing that the CMOMMT problem makes an excellent domain for studying multi-robot learning in inherently cooperative tasks. This approach is the first of its kind for solving the on-line cooperative observation problem and implementing it on a physical robot team.