A survey of multi-robot regular and adversarial patrolling

Multi-robot systems can be applied to patrol a concerned environment for security purposes. According to different goals, this work reviews the existing researches in a multi-robot patrolling field from the perspectives of regular and adversarial patrolling. Regular patrolling requires robots to vis...

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Bibliographic Details
Published inIEEE/CAA journal of automatica sinica Vol. 6; no. 4; pp. 894 - 903
Main Authors Huang, Li, Zhou, MengChu, Hao, Kuangrong, Hou, Edwin
Format Journal Article
LanguageEnglish
Published Piscataway Chinese Association of Automation (CAA) 01.07.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Multiple robots
Patrols
Real-time systems
Robot kinematics
Robots
Security
Surveillance
Task analysis
Time-frequency analysis
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Summary:Multi-robot systems can be applied to patrol a concerned environment for security purposes. According to different goals, this work reviews the existing researches in a multi-robot patrolling field from the perspectives of regular and adversarial patrolling. Regular patrolling requires robots to visit important locations as frequently as possible and a series of deterministic strategies are proposed, while adversarial one focuses on unpredictable robots&#x02BC moving patterns to maximize adversary detection probability. Under each category, a systematic survey is done including problem statements and modeling, patrolling objectives and evaluation criteria, and representative patrolling strategies and approaches. Existing problems and open questions are presented accordingly.
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ISSN:2329-9266
2329-9274
DOI:10.1109/JAS.2019.1911537