Stochastic strategies for patrolling a terrain with a synchronized multi-robot system

DOI10.1016/J.EJOR.2021.11.049zbMATH1506.93004OpenAlexW4200016463MaRDI QIDQ2140299FDOQ2140299

Authors R. Fabila-Monroy, Carlos Hidalgo-Toscano, L. E. Caraballo, J. M. Díaz-Báñez

Publication date 20 May 2022

Published in European Journal of Operational Research (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2209.06968

zbMATH Keywords

multi-agent systemsrandom walkssynchronizationaerial surveillance

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Stochastic systems in control theory (general) (93E03) Multi-agent systems (93A16)

Abstract: A group of cooperative aerial robots can be deployed to efficiently patrol a terrain, in which each robot flies around an assigned area and shares information with the neighbors periodically in order to protect or supervise it. To ensure robustness, previous works on these synchronized systems propose sending a robot to the neighboring area in case it detects a failure. In order to deal with unpredictability and to improve on the efficiency in the deterministic patrolling scheme, this paper proposes random strategies to cover the areas distributed among the agents. First, a theoretical study of the stochastic process is addressed in this paper for two metrics: the emph{idle time}, the expected time between two consecutive observations of any point of the terrain and the emph{isolation time}, the expected time that a robot is without communication with any other robot. After that, the random strategies are experimentally compared with the deterministic strategy adding another metric: the emph{broadcast time}, the expected time elapsed from the moment a robot emits a message until it is received by all the other robots of the team. The simulations show that theoretical results are in good agreement with the simulations and the random strategies outperform the behavior obtained with the deterministic protocol proposed in the literature.

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Cited in

(5)

• Patrol mobile robots and chaotic trajectories
• Simple Strategies Versus Optimal Schedules in Multi-agent Patrolling
• Multi-robot adversarial patrolling: handling sequential attacks
• Multi-robot area patrol under frequency constraints
• Connectivity and stochastic robustness of synchronized multi-drone systems

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