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@InProceedings{aamas08yehuda, 
  author = 	 {Yehuda Elmaliach and Asaf Shiloni and Gal A. Kaminka}, 
  title = 	 {A Realistic Model of Frequency-Based Multi-Robot Fence Patrolling}, 
  OPTcrossref =  {}, 
  OPTkey = 	 {}, 
  booktitle = AAMAS-08, 
  volume = {1},
  pages = 	 {63--70}, 
  year = 	 {2008}, 
  abstract = { 
 There is growing interest in multi-robot frequency-based patrolling, 
in which a team of robots optimizes its frequency of point visits, 
for every point in a target work area. In particular, recent 
work on patrolling of open polygons (e.g., open-ended fences) has proposed a 
general cooperative patrolling algorithm, in which robots move back 
and forth along the polygon, in an synchronized manner, such that 
their assigned areas of movement overlap. If the overlap factor is 
carefully chosen---based on the motion models of the robots---specific performance 
  criteria are optimized. Unfortunately, previous work has presented analysis of  motion models in which there are no errors in the movement of the robots, and no 
  velocity changes. We go a step beyond existing work, and develop a 
realistic model of robot motion, that considers velocity uncertainties. We  mathematically analyze the model and 
show how to use it to find optimal patrolling parameters, given 
known bounds of uncertainty on the motion. We then use the 
model to analyze the independently-programmed patrolling movements 
of physical robots, in extensive experiments. We show that the model 
predicts the behavior of the robots much more accurately than previously-described  models.  
  }, 
  wwwnote = {}, 
  OPTeditor = 	 {}, 
  OPTvolume = 	 {}, 
  OPTnumber = 	 {}, 
  OPTseries = 	 {}, 
  OPTaddress = 	 {}, 
  OPTmonth = 	 {}, 
  OPTorganization = {}, 
  OPTpublisher = {}, 
  OPTannote = 	 {} 
}