Using autonomous mobile robots to patrol environments for detecting intruders is a topic of increasing relevance for its possible applications. A large part of strategies for mobile patrolling robots proposed so far adopt some kind of random movements. Although these strategies are unpredictable for an intruder, they are not always efficient in getting the patroller a large expected utility. In this paper we propose an approach that considers a model of the adversary in a game theoretic framework to find optimally-efficient patrolling strategies. We show that our approach extends those proposed in literature and we experimentally analyze some of its features.
Finding the optimal strategies for robotic patrolling with adversaries in topologically-represented environments / F. Amigoni, N. Basilico, N. Gatti - In: Robotics and Automation, 2009. ICRA '09. IEEE International Conference on[s.l] : IEEE, 2009. - ISBN 9781424427888. - pp. 819-824 (( convegno ICRA tenutosi a Kobe nel 2009.
Finding the optimal strategies for robotic patrolling with adversaries in topologically-represented environments
N. BasilicoSecondo
;
2009
Abstract
Using autonomous mobile robots to patrol environments for detecting intruders is a topic of increasing relevance for its possible applications. A large part of strategies for mobile patrolling robots proposed so far adopt some kind of random movements. Although these strategies are unpredictable for an intruder, they are not always efficient in getting the patroller a large expected utility. In this paper we propose an approach that considers a model of the adversary in a game theoretic framework to find optimally-efficient patrolling strategies. We show that our approach extends those proposed in literature and we experimentally analyze some of its features.File | Dimensione | Formato | |
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