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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.

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, recentwork on patrolling of open polygons (e.g., open-ended fences) has proposed ageneral cooperative patrolling algorithm, in which robots move backand forth along the polygon, in an synchronized manner, such thattheir assigned areas of movement overlap. If the overlap factor iscarefully 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 arealistic model of robot motion, that considers velocity uncertainties. We mathematically analyzethe model andshow how to use it to find optimal patrolling parameters, givenknown bounds of uncertainty on the motion. We then use themodel to analyze the independently-programmed patrolling movementsof physical robots, in extensive experiments. We show that the modelpredicts the behavior of the robots much more accurately than previously-described models.

@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 = {} }

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