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Extending Algorithms for Mobile Robot Patrolling in the Presence of Adversaries to More Realistic
 

Summary: Extending Algorithms for Mobile Robot Patrolling
in the Presence of Adversaries to More Realistic
Settings
Nicola Basilico, Nicola Gatti, Thomas Rossi, Sofia Ceppi, and Francesco Amigoni
Dipartimento di Elettronica e Informazione,
Politecnico di Milano,
Milano, Italy
Email: {basilico, ngatti, ceppi, amigoni}@elet.polimi.it, thomas.rossi@mail.polimi.it
Abstract--Patrolling environments by means of autonomous
mobile robots has received an increasing attention in the last
few years. The interest of the agent community is mainly in the
development of effective patrolling strategies. Approaches based
on game theory have been demonstrated to be very effective. They
model the patrolling situation as a two-player leader-follower
game, where the patroller is the leader and the intruder is the
follower. These models present several limitations that prevent
their use in realistic settings. In this paper, we extend the most
general model from the state of the art along two directions, we
propose algorithms to solve efficiently our extensions, and we
experimentally evaluate them.

  

Source: Amigoni, Francesco - Dipartimento di Elettronica e Informazione, Politecnico di Milano

 

Collections: Computer Technologies and Information Sciences