A Decentralized Based Approach Using Hybrid Filtered Beam Search Algorithm for Monitoring Patrols

Abstract

This paper addresses the problem of task allocation for monitoring patrols in industrial areas. The objective is to decentralize the process of task allocation so that each robot can make decisions based on its configuration and environmental information. In this context, we introduce a distributed heuristic approach based on the Hybrid Filtered Beam Search (HFBS) algorithm to determine the optimal trajectory of each robot. In order to validate our approach, a case study in the industrial port area of Le Havre city is presented. The results are therefore promising since each robot calculates its optimal trajectory using only measurements from sites it can process rather than using all environmental data.