Gal A. Kaminka's Publications

Sorted by DateClassified by Publication TypeClassified by TopicGrouped by Student (current)Grouped by Former Students

A Realistic Model of Frequency-Based Multi-Robot Fence Patrolling

Yehuda Elmaliach, Asaf Shiloni, and Gal A. Kaminka. A Realistic Model of Frequency-Based Multi-Robot Fence Patrolling. In Proceedings of the Seventh International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS-08), pp. 63–70, 1, 2008.

Download

[PDF]413.8kB  

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.

Additional Information

BibTeX

@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 = 	 {} 
} 

Generated by bib2html.pl (written by Patrick Riley ) on Sun Oct 29, 2017 21:31:22