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

Abstract-Several techniques have been proposed in the last few years to address the multiagent patrolling task. They share the assumption of a closed system setting (the set of agents present in the system is constant, no agent joins or leaves), which is a strong requirement and limits the applicability of multiagent patrolling models. In this article, we propose to revisit some of the techniques proposed in the literature to adapt them to the open society setting, and to compare their performances on a simple scenario where an agent decides to quit the patrolling task.

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“…Finally, swarm approaches have been proposed (e.g. in [4]), as well as robotic approaches (e.g. [5]).…”

Section: B Related Workmentioning

confidence: 99%

The Open System Setting in Timed Multiagent Patrolling

Poulet

Corruble

Seghrouchni

et al. 2011

2011 IEEE/WIC/ACM International Conferences on Web Intelligence and Intelligent Agent Technology

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“…The absence of explicit communication does not mean that there is not exchange of information; the robots may communicate indirectly, or stigmergically, leaving intentionally or not, some traces in the environment [10].…”

Section: Proposed Approachmentioning

confidence: 99%

Fuzzy behavioral control for multi-robot border patrol

Marino

Caccavale

Parker

et al. 2009

2009 17th Mediterranean Conference on Control and Automation

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Abstract-This paper deals with the problem of multi-robot border patrolling. The patrolling algorithm is designed by resorting to the behavioral control framework and is organized in a hierarchical structure. Several Elementary Behaviors are defined, which are the basis of the concept of Action, placed at a higher level of abstraction with respect to the behaviors. Each Action is obtained by properly combining multiple Elementary Behaviors via the Null-Space-Behavioral control framework. For the sake of robustness, the overall patrolling algorithm is fully decentralized, since explicit communication between robots is not needed. A a Fuzzy Inference System is designed to select the proper Action according to local sensor information only. The algorithm has been validated in simulation as well as experimentally on a setup composed by three Pioneer robots.

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“…Recently, swarm intelligence has also been used to tackle the multi-robot patrolling problem as in [13], where a grid-based algorithm is proposed. It relies on the evaporation process of pheromones dropped by agents (an indicator of time passed since the last visit).…”

Section: Alternative Methodsmentioning

confidence: 99%

A Survey on Multi-robot Patrolling Algorithms

Portugal

Rocha

2011

IFIP Advances in Information and Communication Technology

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Abstract. This article presents a survey on cooperative multi-robot patrolling algorithms, which is a recent field of research. Every strategy proposed in the last decade is distinct and is normally based on operational research methods, simple and classic techniques for agent's coordination or alternative, and usually more complex, coordination mechanisms like market-based approaches or reinforcement-learning. The variety of approaches differs in various aspects such as agent type and their decision-making or the coordination and communication mechanisms. Considering the current work concerning the patrolling problem with teams of robots, it is felt that there is still a great potential to take a step forward in the knowledge of this field, approaching well-known limitations in previous works that should be overcome.

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

Cited by 43 publications

References 5 publications

The Open System Setting in Timed Multiagent Patrolling

The Open System Setting in Timed Multiagent Patrolling

Fuzzy behavioral control for multi-robot border patrol

A Survey on Multi-robot Patrolling Algorithms

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