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Theoretical analysis of the multi-agent patrolling problem

Y. Cheva
Proceedings. IEEE/WIC/ACM International Conference on Intelligent Agent Technology, 2004. (IAT 2004).  
The multiagent patrolling problem has recently received growing attention from the multi-agent community, due to the wide range of potential applications.  ...  However, no theoretical analysis of this problem has been conducted. In this paper, various classes of patrolling strategies are proposed and compared.  ...  This paper proposes a theoretical analysis of the patrolling problem addressing the following issues : do the existing algorithms generate optimal strategies ?  ... 
doi:10.1109/iat.2004.1342959 dblp:conf/iat/Chevaleyre04 fatcat:lwbhkegs7jfbfhkaeiapwaxqyi

The Multi-agent Patrolling Problem Theoretical Results about Cyclic Strategies [chapter]

Fabrice Lauri, Jean-Charles Créput, Abderrafiaa Koukam
2014 Lecture Notes in Computer Science  
lgorithm my e ine'etive to rpidly proE vide this performne riterionF he ontriution of this pper is fourfoldF pirstly we extend the formultion of the lssil multiEgent ptrolling prolemF eondly we de(ne  ...  lrge lss of multiEgent ptrolling strteE giesD the onsistent yli ptrolling strtegiesD where every gent my visit some nodes one efore ultimtely visiting the sme set of nodes in(nitely oftenF sdlenessEsed  ...  Firstly we extend the formulation of the classical multi-agent patrolling problem (see Section 2).  ... 
doi:10.1007/978-3-319-07551-8_15 fatcat:4x6oajqpivcldawceuz3ck4g3a

Generating Effective Patrol Strategies to Enhance U.S. Border Security

Eric Gutierrez, Jonathan Juett, Christopher Kiekintveld
2013 Journal of Strategic Security  
GAMMASys GAMMASys (Genetic Algorithm for a Map-based Multi-Agent System) is a multi-agent simulation tool based on game theory and genetic algorithms for analyzing patrolling strategies.  ...  The patrolling agents (i.e., border patroller) attempt to capture the evading agents (i.e., smugglers) before the evading agents can reach their goal.  ... 
doi:10.5038/1944-0472.6.3s.16 fatcat:2tekvccs6bd5pdadpbgtsrweb4

Swarm Approaches for the Patrolling Problem, Information Propagation vs. Pheromone Evaporation

Hoang Nam Chu, Arnaud Glad, Olivier Simonin, Francois Sempe, Alexis Drogoul, Francois Charpillet
2007 19th IEEE International Conference on Tools with Artificial Intelligence(ICTAI 2007)  
This paper deals with the multi-agent patrolling problem in unknown environment using two collective approaches exploiting environmental dynamics.  ...  The analysis is supplemented by a comparison with the theoretical optimum performances, allowing to identify topologies for which methods are the most adapted.  ...  the multi-agent patrolling problem in unknown environments, i.e. for which we do not have a graph of the areas to visit.  ... 
doi:10.1109/ictai.2007.80 dblp:conf/ictai/ChuGSSDC07 fatcat:bcr3bs5mm5b7los2e2m4xdusy4

A Hybrid Approach for the Multi-sensor Patrolling Problem in an Unknown Environment with Obstacles

Elie Tagne Fute, Department of Computer Science, University of Dschang, Dschang, Cameroon, Doris-Khöler Nyabeye Pangop, Emmanuel Tonye
2020 International Journal of Computer Network and Information Security  
The multi-sensor patrolling problem consists in moving a set of sensors on a pre-set territory such that each part of this territory is visited by the sensor agents as often as possible.  ...  This paper introduces PREFAP, an approach to solve the multi-sensor patrolling problem in unknown environment.  ...  The existing resolution's approaches of the multi-agent patrolling problem in unknown environments have been described.  ... 
doi:10.5815/ijcnis.2020.05.02 fatcat:sfhuhd67cvdn3od4e7rsvmp5my

Near-optimal continuous patrolling with teams of mobile information gathering agents

R. Stranders, E. Munoz de Cote, A. Rogers, N.R. Jennings
2013 Artificial Intelligence  
For both the single and the multi-agent case, we give theoretical guarantees (lower bounds on the solution quality and an upper bound on the computational complexity in the size of the graph and the number  ...  We first define a general class of multi-agent information gathering problems in which vehicles are represented by information gathering agents -autonomous entities that direct their activity towards collecting  ...  Acknowledgements The work in this paper was done as part of the ORCHID project (  ... 
doi:10.1016/j.artint.2012.10.006 fatcat:4rp6tz62rvbx7a7ftmv3m6epz4

A Game-Theoretic Approach to Determining Efficient Patrolling Strategies for Mobile Robots

Francesco Amigoni, Nicola Gatti, Antonio Ippedico
2008 2008 IEEE/WIC/ACM International Conference on Web Intelligence and Intelligent Agent Technology  
Game-theoretic approaches allow the development of patrolling strategies that take into account a model of the intruder.  ...  The patrolling agent is considered playing a game against an hostile possible intruder.  ...  case of [9, 10] , the guard's actions are multi-step patrolling routes.  ... 
doi:10.1109/wiiat.2008.324 dblp:conf/iat/AmigoniGI08 fatcat:jzmh3b3xsvdgtgacnrf7c7iczm

Game Theory for Unmanned Vehicle Path Planning in the Marine Domain: State of the Art and New Possibilities

Marco Cococcioni, Lorenzo Fiaschi, Pierre F. J. Lermusiaux
2021 Journal of Marine Science and Engineering  
This work focuses on game-theoretic approaches and provides a wide overview of the current state of the art, along with future directions.  ...  To achieve autonomy in such highly dynamic uncertain conditions, many types of autonomous path planning problems need to be solved.  ...  The authors developed a game-theoretic approach to maximize the information flow that occurs as a multi-agent collaborative search is conducted over a bounded region.  ... 
doi:10.3390/jmse9111175 fatcat:3v6oyeo4yfgcvatahm5rki456u

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.  ...  We then present our model for the problem of multi-agent patrolling under uncertainty and threats.  ... 
doi:10.1371/journal.pone.0130154 pmid:26086946 pmcid:PMC4472811 fatcat:qbjpza6ctvcvnmg7b645qjklrm

On coordination in practical multi-robot patrol

Noa Agmon, Chien-Liang Fok, Yehuda Emaliah, Peter Stone, Christine Julien, Sriram Vishwanath
2012 2012 IEEE International Conference on Robotics and Automation  
Multi-robot patrol is a fundamental application of multi-robot systems.  ...  While much theoretical work exists providing an understanding of the optimal patrol strategy for teams of coordinated homogeneous robots, little work exists on building and evaluating the performance of  ...  The work was also taken place in the Learning Agents Research Group (LARG) at UT Austin.  ... 
doi:10.1109/icra.2012.6224708 dblp:conf/icra/AgmonFESJV12 fatcat:efrtwbb7urdf3mxhx2r4nufk6a

Autonomous Graph Partitioning for Multi-Agent Patrolling Problems

Bernát Wiandt, Vilmos Simon
2018 Proceedings of the 2018 Federated Conference on Computer Science and Information Systems  
These algorithms are either centralized and in need of constant connection with the agents or solve NP-hard problems to plan the routes of individual agents on the graph.  ...  Patrolling algorithms are coordinating multiple agents with the goal of visiting points of interest in a timely manner.  ...  THE MULTI-AGENT PATROLLING PROBLEM In this article our goal is to further elaborate the performance characteristics of our proposed PBPS algorithm [18] .  ... 
doi:10.15439/2018f213 dblp:conf/fedcsis/WiandtS18 fatcat:cctsxub7krhw7lcaant3k7i77e

Cooperative Multi-robot Patrol in an Indoor Infrastructure [chapter]

David Portugal, Rui P. Rocha
2014 Human Behavior Understanding in Networked Sensing  
Multi-robot patrol (MRP) is essentially a collective decision-making problem, where mobile robotic units must coordinate their actions effectively in order to schedule visits to every critical point of  ...  In this work, we present a distributed strategy to solve the patrolling problem in a real world indoor environment, where each autonomous agent decides its actions locally and adapts to the system's needs  ...  UI0048/2011), all of them funded by the Portuguese science agency "Fundação para a Ciência e a Tecnologia".  ... 
doi:10.1007/978-3-319-10807-0_16 fatcat:nrhp5z53uffnjowcqjzoj57adq

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.  ...  CENTRO-01-0247-FEDER-017562), co-funded by the "Agência Nacional de Inovação" within the Portugal2020 programme.  ... 
doi:10.1007/978-3-319-91590-6_1 fatcat:by4keeydb5h7jiegrk74nhxyri

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.  ...  We first define the patrolling problem. After that, the patrolling problem is modeled as the Partially Observable Markov Decision Process (POMDP) problem.  ...  Acknowledgments In this paper, the research was supported by National Nature Science Foundation of China (Grant No. 71373282) and National Social Science Foundation of China(Grant No. 14BTQ034).  ... 
doi:10.1371/journal.pone.0202328 pmid:30142198 fatcat:scrhfxjxwjcebosh4kf3jv7b4m

Distributed multi-robot patrol: A scalable and fault-tolerant framework

David Portugal, Rui P. Rocha
2013 Robotics and Autonomous Systems  
Thus, the Multi-Robot Patrolling Problem (MRPP) requires coordination of agents decision-making with the ultimate goal of achieving optimal group performance.  ...  This paper addresses the Multi-Robot Patrolling Problem, where agents must coordinate their actions while continuously deciding which place to move next after clearing their locations.  ...  In fact, Chevaleyre [11] provided the first theoretical analysis of the patrol problem, using the idleness performance criterion on an undirected metric graph, similarly to the problem defined in section  ... 
doi:10.1016/j.robot.2013.06.011 fatcat:jduaybjcwffwdne5bnxzbshdze
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