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Finding the Optimal Strategies for Robotic Patrolling with Adversaries in Topologically-Represented Environments
 

Summary: Finding the Optimal Strategies for Robotic Patrolling with Adversaries
in Topologically-Represented Environments
Francesco Amigoni, Nicola Basilico, and Nicola Gatti
Abstract-- Using autonomous mobile robots to patrol en-
vironments for detecting intruders is a topic of increasing
relevance for its possible applications. A large part of strategies
for mobile patrolling robots proposed so far adopt some kind
of random movements. Although these strategies are unpre-
dictable for an intruder, they are not always efficient in getting
the patroller a large expected utility. In this paper we propose
an approach that considers a model of the adversary in a
game theoretic framework to find optimally-efficient patrolling
strategies. We show that our approach extends those proposed
in literature and we experimentally analyze some of its features.
I. INTRODUCTION
Protecting sites against intrusions is a topic of increasing
importance, and robotic systems for autonomous patrolling
have been developed in the last years [1], [2]. These systems
usually adopt some kind of randomized patrolling strategies
in order to make their routes unpredictable for an observing

  

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

 

Collections: Computer Technologies and Information Sciences; Engineering