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IEEE/CAA Journal of Automatica Sinica

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Li Huang, MengChu Zhou, Kuangrong Hao and Edwin Hou, "A Survey of Multi-robot Regular and Adversarial Patrolling," IEEE/CAA J. Autom. Sinica, vol. 6, no. 4, pp. 894-903, July 2019. doi: 10.1109/JAS.2019.1911537
Citation: Li Huang, MengChu Zhou, Kuangrong Hao and Edwin Hou, "A Survey of Multi-robot Regular and Adversarial Patrolling," IEEE/CAA J. Autom. Sinica, vol. 6, no. 4, pp. 894-903, July 2019. doi: 10.1109/JAS.2019.1911537

A Survey of Multi-robot Regular and Adversarial Patrolling

doi: 10.1109/JAS.2019.1911537
Funds:  This work was supported in part by the International Collaborative Project of the Shanghai Committee of Science and Technology (16510711100), National Natural Science Foundation of China (61603090, 61806051), the Fundamental Research Funds for the Central Universities (2232017D-08, 2232017D-13), Shanghai Sailing Program (17YF1426100) and by FDCT (Fundo para o Desenvolvimento das Ciencias e da Tecnologia) (119/2014/A3)
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  • Multi-robot systems can be applied to patrol a concerned environment for security purposes. According to different goals, this work reviews the existing researches in a multi-robot patrolling field from the perspectives of regular and adversarial patrolling. Regular patrolling requires robots to visit important locations as frequently as possible and a series of deterministic strategies are proposed, while adversarial one focuses on unpredictable robots’ moving patterns to maximize adversary detection probability. Under each category, a systematic survey is done including problem statements and modeling, patrolling objectives and evaluation criteria, and representative patrolling strategies and approaches. Existing problems and open questions are presented accordingly.

     

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    Highlights

    • Existing researches in a multi-robot patrolling field are reviewed in this paper.
    • Two categories according to different patrolling goals are summarized.
    • A systematic survey under each category is presented.
    • Existing problems and open questions are discussed.

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