# Gal A. Kaminka's Publications

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## Frequency-Based Multi-Robot Fence Patrolling

Yehuda Elmaliach, Asaf Shiloni, and Gal A. Kaminka. Frequency-Based Multi-Robot Fence Patrolling. Technical Report MAVERICK 2008/01, Bar Ilan University, Computer Science Department, MAVERICK Group, 2008.

### Abstract

Patrolling---sometimes referred to as repeated coverage---is a task where points in a target work-area are repeatedly visited by robots. The patrolling algorithm can be optimized towards different performance criteria, such as frequency of point visits, minimization of travel time to arbitrary points of interest, etc. Most existing work provides patrolling solutions for closed-polygon work-areas, in which a topologically-circular path is used to guarantee optimal performance. In contrast,we focus in this paper on patrolling along an open polygon, e.g., a two-ended fence.Here, there are inherent challenges to maintain uniformity of point visit frequencies,and other performance criteria. We introduce two coordinated multi-robot fence-patrol techniques: The synchronized andsynchronized-overlap methods. We show thatin general, the synchronized approaches to multi-robot patrolling outperform the individual, unsynchronized methods. We then analyze the performance of the synchronized methods in depth, with respect to different performance goals, and investigate key trade-offs.

### BibTeX

@techreport{fence08yehuda,
author = {Yehuda Elmaliach and Asaf Shiloni and Gal A. Kaminka},
title = {Frequency-Based Multi-Robot Fence Patrolling},
year = {2008},
number = {MAVERICK 2008/01},
institution = {Bar Ilan University, Computer Science Department, {MAVERICK} Group},
abstract = {Patrolling---sometimes referred to as repeated coverage---is a task where points
in a target work-area are repeatedly visited by robots. The patrolling algorithm can be optimized towards different performance criteria, such as frequency of point visits, minimization of travel time to arbitrary points of interest, etc.  Most existing work provides
patrolling solutions for closed-polygon work-areas, in which a topologically-circular path is used to guarantee optimal performance. In contrast,
we focus in this paper on patrolling along an open polygon, e.g., a two-ended fence.
Here, there are inherent challenges to maintain uniformity of point visit frequencies,
and other performance criteria. We introduce two coordinated multi-robot fence-patrol techniques: The \emph{synchronized} and
\emph{synchronized-overlap} methods. We show that
in general, the synchronized approaches to multi-robot patrolling outperform the individual, unsynchronized methods. We then analyze the performance of the synchronized methods in depth, with respect to different performance goals, and investigate key trade-offs.  },
wwwnote = {},
}


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