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Recent Advances on Multi-agent Patrolling [chapter]

Alessandro Almeida, Geber Ramalho, Hugo Santana, Patrícia Tedesco, Talita Menezes, Vincent Corruble, Yann Chevaleyre
2004 Lecture Notes in Computer Science  
Patrolling is a complex multi-agent task, which usually requires agents to coordinate their decision-making in order to achieve optimal performance of the group as a whole.  ...  In previous work, many patrolling strategies have been developed, based on different approaches: heuristic agents, negotiation mechanisms, reinforcement learning techniques, techniques based on graph-theory  ...  Despite its high potential utility and scientific interest, only recently multi-agent patrolling has been rigorously studied.  ... 
doi:10.1007/978-3-540-28645-5_48 fatcat:yjaiqlofuzek5mg5wset5gsfzi

A Survey on Multi-robot Patrolling Algorithms [chapter]

David Portugal, Rui Rocha
2011 IFIP Advances in Information and Communication Technology  
This article presents a survey on cooperative multi-robot patrolling algorithms, which is a recent field of research.  ...  The variety of approaches differs in various aspects such as agent type and their decision-making or the coordination and communication mechanisms.  ...  Recently, swarm intelligence has also been used to tackle the multi-robot patrolling problem as in [13] , where a grid-based algorithm is proposed.  ... 
doi:10.1007/978-3-642-19170-1_15 fatcat:z2x7yff3xzg2fovjxgf65kv7tu

Scalable, fault-tolerant and distributed multi-robot patrol in real world environments

David Portugal, Rui P. Rocha
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Despite the focus that multi-robot patrolling has received recently, there is a manifest lack of practical real-world implementations of such systems.  ...  Beyond that, the existing ones have been mainly focused on centralized policies to coordinate the team of agents.  ...  In this context, there have been several advances in multirobot coverage and patrolling.  ... 
doi:10.1109/iros.2013.6697042 dblp:conf/iros/PortugalR13 fatcat:leiut6523jfhzky4przt22tvla

Reducing Efficiency Degradation Due to Scheduled Agent Suspensions by Task Handover in Multi-Agent Cooperative Patrol Problems

Sota Tsuiki, Keisuke Yoneda, Toshiharu Sugawara
2021 Proceedings of the ... International Florida Artificial Intelligence Research Society Conference  
This paper proposes a method to mitigate the significant performance degradation due to planned suspensions in the multi-agent cooperative patrol problem.  ...  In recent years, there has been an increased demand to utilize multiple intelligent agents that control robots.  ...  One problem framework for these types of applications is the multi-agent cooperative patrol problem (MACPP), in which agents simultaneously patrol a specific environment to execute required tasks, such  ... 
doi:10.32473/flairs.v34i1.128442 fatcat:dgnhwvusmnhabl5hwkjwtlyls4

On the performance and scalability of multi-robot patrolling algorithms

David Portugal, Rui P. Rocha
2011 2011 IEEE International Symposium on Safety, Security, and Rescue Robotics  
Several distinct multi-robot patrolling strategies have been presented for the last decade in the context of security applications.  ...  This analysis is based on realistic simulation results using ROS and a performance metric represented by the average idleness of the topological environment (i.e., graph) that represents the area to patrol  ...  Recently, swarm intelligence has also been used to tackle the multi-robot patrolling problem [9] , [12] .  ... 
doi:10.1109/ssrr.2011.6106761 fatcat:mlfm2d6d4rasfagaf2lfliofqy

Measuring Variables Effect to Statistically Model the Multi-Robot Patrolling Problem by Means of ANOVA [chapter]

David Portugal, Rui P. Rocha
2012 IFIP Advances in Information and Communication Technology  
This paper focuses on analyzing extensive results generated from running diverse multi-robot patrolling algorithms with different configurations towards measuring the influence of the variables of the  ...  It is shown that by applying such technique, it is possible to compute a data-related model for the Multi-Robot Patrolling Problem (MRPP).  ...  Based on a similar idea, in [7] a technique to reduce the patrolling graph to multiple spanning trees, assigning a spanning tour around each tree was recently presented.  ... 
doi:10.1007/978-3-642-28255-3_22 fatcat:66jrdhoc5fg3fjcj2acts22jgm

A ROS-Based Framework for Simulation and Benchmarking of Multi-robot Patrolling Algorithms [chapter]

David Portugal, Luca Iocchi, Alessandro Farinelli
2018 Studies in Computational Intelligence  
In this work, we present patrolling_sim, a ROS-based framework for simulation and benchmarking of multi-robot patrolling algorithms.  ...  Making use of Stage, a multirobot simulator, we provide tools for running, comparing, analyzing and integrating new algorithms for multi-robot patrolling.  ...  Patrol Agent and Additional Strategies The patrolling behavior of each robot depends exclusively on the MRP strategy chosen.  ... 
doi:10.1007/978-3-319-91590-6_1 fatcat:by4keeydb5h7jiegrk74nhxyri

Multi-Agent Patrolling under Uncertainty and Threats

Shaofei Chen, Feng Wu, Lincheng Shen, Jing Chen, Sarvapali D. Ramchurn, Yong Deng
2015 PLoS ONE  
We empirically evaluate our algorithm on problems of multi-agent patrolling and show that it outperforms a baseline algorithm up to 44% for 10 agents and by 21% for 15 agents in large domains.  ...  We investigate a multi-agent patrolling problem where information is distributed alongside threats in environments with uncertainties.  ...  In summary, this paper advances the state of the art in the following ways: • We propose the first algorithm for multi-agent patrolling under uncertainty and threats.  ... 
doi:10.1371/journal.pone.0130154 pmid:26086946 pmcid:PMC4472811 fatcat:qbjpza6ctvcvnmg7b645qjklrm

Multi-robot patrolling algorithms: examining performance and scalability

David Portugal, Rui P. Rocha
2013 Advanced Robotics  
In this paper the problem of patrolling an environment with a dynamic team of robots is targeted.  ...  For this reason, an evaluation of five representative patrol approaches is presented in this article.  ...  A pioneer work was presented in [2] , where several architectures for multi-agent patrol were proposed.  ... 
doi:10.1080/01691864.2013.763722 fatcat:v3gbd4hgtzct3aqguxfgmer7f4

A hybrid approach based on multi-agent geosimulation and reinforcement learning to solve a UAV patrolling problem

Jimmy Perron, Jimmy Hogan, Bernard Moulin, Jean Berger, Micheline Belanger
2008 2008 Winter Simulation Conference  
We propose a hybrid approach combining multi-agent geosimulation and reinforcement learning enabling a group of agents to find near optimal solutions in realistic geo-referenced virtual environments.  ...  We also comment the value of the approach based on limited computational results.  ...  In recent years several researchers (Machado et al. 2002; Chevaleyre 2004; Santana et al. 2004) proposed multi-agent solutions to a simpler version of the patrolling problem, considering that: 1) the  ... 
doi:10.1109/wsc.2008.4736198 dblp:conf/wsc/PerronHMBB08 fatcat:zmpopjkh7fautflh53mpwuoi4m

AntPaP: Patrolling and Fair Partitioning of Graphs by A(ge)nts Leaving Pheromone Traces [article]

Gidi Elazar, Alfred M. Bruckstein
2016 arXiv   pre-print
A team of identical and oblivious ant-like agents - a(ge)nts - leaving pheromone traces, are programmed to jointly patrol an area modeled as a graph.  ...  Each a(ge)nt begins to operate at an arbitrary initial location, and throughout its work does not acquire any information on either the shape or size of the graph, or the number or whereabouts of other  ...  The subject of multi-agent patrolling has been extensively stud- ied.  ... 
arXiv:1608.04511v1 fatcat:cdkvv6nhgvh7ffuoiobsk7rn3e

3D multi-robot patrolling with a two-level coordination strategy

Luigi Freda, Mario Gianni, Fiora Pirri, Abel Gawel, Renaud Dubé, Roland Siegwart, Cesar Cadena
2019 Autonomous Robots  
The first level guides the agents to single out exclusive target nodes on a topological map.  ...  Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another.  ...  On the basis of recent research advancements in this field, alternative subdivisions might be devised.  ... 
doi:10.1007/s10514-018-09822-3 fatcat:g7v7z3liyjhutlkd6t6z6xeldm

Authority Sharing in a Swarm of UAVs: Simulation and Experiments with Operators [chapter]

François Legras, Arnaud Glad, Olivier Simonin, François Charpillet
2008 Lecture Notes in Computer Science  
However, the design of these new multi-agent systems involves to take up many challenges.  ...  We present an approach that allows one operator to control a swarm of UAVs in the context of simulated patrolling and pursuit tasks.  ...  Conclusion This paper dealt with authority sharing between human operator and an UAVs swarm for patrol and pursuit tasks.  ... 
doi:10.1007/978-3-540-89076-8_29 fatcat:mr4wpflxjvdejiihbpzxugj5mm

Continuous patrolling in uncertain environment with the UAV swarm

Xin Zhou, Weiping Wang, Tao Wang, Xiaobo Li, Tian Jing, Yong Deng
2018 PLoS ONE  
Firstly, we define the UAV swarm patrolling problem. Agent in different layers has different viewpoints.  ...  The experiment results show that the UAVs can gather as much information as possible and take as little Patrolling with the UAV swarm PLOS ONE | https://doi.  ...  And on this basis, we construct single agent patrolling algorithm, team of agents patrolling algorithm and UAV swarm patrolling algorithm.  ... 
doi:10.1371/journal.pone.0202328 pmid:30142198 fatcat:scrhfxjxwjcebosh4kf3jv7b4m

Multi-robot Teams for Environmental Monitoring [chapter]

Maria Valera Espina, Raphael Grech, Deon De Jager, Paolo Remagnino, Luca Iocchi, Luca Marchetti, Daniele Nardi, Dorothy Monekosso, Mircea Nicolescu, Christopher King
2011 Studies in Computational Intelligence  
Current research regards homogeneous robots, whereas in this chapter we study highly heterogeneous systems and consider the problem of patrolling an area with a dynamic set of agents.  ...  In this chapter we target the problem of monitoring an environment with a team of mobile robots having on board video-cameras and fixed stereo cameras available within the environment.  ...  Multi-Robot environment coverage has been recently studied by solving the problem of generating patrol paths. Elmaliach et al.  ... 
doi:10.1007/978-3-642-18278-5_8 fatcat:vkfr2ryiknhhjhngbvhdpc2gne
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