Game theoretic approaches to patrolling have become a topic of increasing interest in the very last years. They mainly refer to a patrolling mobile robot that preserves an environment from intrusions. These approaches allow for the development of patrolling strategies that consider the possible actions of the intruder in deciding where the robot should move. Usually, it is supposed that the intruder can hide and observe the actions of the patroller before intervening. This leads to the adoption of a leader-follower solution concept. In this paper, mostly theoretical in its nature, we propose an approach to determine optimal leader-follower strategies for a mobile robot patrolling an environment. Differently from previous works in literature, our approach can be applied to environments with arbitrary topologies.

Leader-follower strategies for robotic patrolling in environments with arbitrary topologies / N. Basilico, N. Gatti, F. Amigoni (PROCEEDINGS OF THE INTERNATIONAL JOINT CONFERENCE ON AUTONOMOUS AGENTS AND MULTIAGENT SYSTEMS). - In: Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems. 1[s.l] : International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS), 2009. - ISBN 9781615673346. - pp. 30-37 (( Intervento presentato al 8. convegno AAMAS tenutosi a Budapest nel 2009.

Leader-follower strategies for robotic patrolling in environments with arbitrary topologies

N. Basilico
Primo
;
2009

Abstract

Game theoretic approaches to patrolling have become a topic of increasing interest in the very last years. They mainly refer to a patrolling mobile robot that preserves an environment from intrusions. These approaches allow for the development of patrolling strategies that consider the possible actions of the intruder in deciding where the robot should move. Usually, it is supposed that the intruder can hide and observe the actions of the patroller before intervening. This leads to the adoption of a leader-follower solution concept. In this paper, mostly theoretical in its nature, we propose an approach to determine optimal leader-follower strategies for a mobile robot patrolling an environment. Differently from previous works in literature, our approach can be applied to environments with arbitrary topologies.
leader-follower strategies; robotic patrolling
Settore INF/01 - Informatica
2009
Book Part (author)
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2434/454842
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