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Summary: Moving Game Theoretical Patrolling Strategies from Theory to Practice:
An USARSim Simulation
Francesco Amigoni, Nicola Basilico, Nicola Gatti, Alessandro Saporiti, and Stefano Troiani
Abstract-- Game theoretical approaches have been recently
used to develop patrolling strategies for mobile robots. The
idea is that the patroller and the intruder play a game, whose
outcome depends on the combination of their actions. From
the analysis of this game, an optimal strategy for the patrolling
robot can be derived. Although game theoretical approaches
are promising, their applicability in real settings is still an open
problem. In this paper, we experimentally evaluate the practical
applicability of the most general game theoretical approach
for patrolling strategies, called BGA model. Experiments are
conducted by using USARSim, with the goal of studying the
behavior of the optimal patrolling strategy returned by the BGA
model both in situations that violate its idealized assumptions
and in comparison with other patrolling strategies that can be
developed with much less computational effort.
I. INTRODUCTION
The development of patrolling strategies for mobile robots
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