相关论文: A Formal Framework for Mobile Robot Patrolling in …

When securing complex infrastructures or large environments, constant surveillance of every area is not affordable. To cope with this issue, a common countermeasure is the usage of cheap but wide-ranged sensors, able to detect suspicious…

This paper studies a stochastic robotic surveillance problem where a mobile robot moves randomly on a graph to capture a potential intruder that strategically attacks a location on the graph. The intruder is assumed to be omniscient: it…

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…

Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…

Stochastic patrol routing is known to be advantageous in adversarial settings; however, the optimal choice of stochastic routing strategy is dependent on a model of the adversary. We adopt a worst-case omniscient adversary model from the…

Effective security patrol management is critical for ensuring safety in diverse environments such as art galleries, airports, and factories. The behavior of patrols in these situations can be modeled by patrolling games. They simulate the…

The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal…

In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…

This paper presents a game theoretic formulation of a graph traversal problem, with applications to robots moving through hazardous environments in the presence of an adversary, as in military and security scenarios. The blue team of robots…

Given a mapped environment, we formulate the problem of visually tracking and following an evader using a probabilistic framework. In this work, we consider a non-holonomic robot with a limited visibility depth sensor in an indoor…

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…

We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…

We focus on adversarial patrolling games on arbitrary graphs, where the Defender can control a mobile resource, the targets are alarmed by an alarm system, and the Attacker can observe the actions of the mobile resource of the Defender and…

Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…

Planning safe robot motions in the presence of humans requires reliable forecasts of future human motion. However, simply predicting the most likely motion from prior interactions does not guarantee safety. Such forecasts fail to model the…

We study the problem of patrolling the nodes of a network collaboratively by a team of mobile agents, such that each node of the network is visited by at least one agent once in every $I(n)$ time units, with the objective of minimizing the…

We present solutions to a continuous patrolling game played on network. In this zero-sum game, an Attacker chooses a time and place to attack a network for a fixed amount of time. A Patroller patrols the network with the aim of intercepting…

The security issue of mobile robots has attracted considerable attention in recent years. In this paper, we propose an intelligent physical attack to trap mobile robots into a preset position by learning the obstacle-avoidance mechanism…

The dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of the graph. This…

This paper addresses the problem of detecting possible intruders in a group of autonomous robots, which coexist in a shared environment and interact with each other according to a set of "social behaviors", or common rules. Such rules…