Game Theory Models for Multi-Robot Patrolling of Infrastructures
This work is focused on the problem of performing multi-robot patrolling for infrastructure security applications in order to protect a known environment at critical facilities. Thus, given a set of robots and a set of points of interest, the patrolling task consists of constantly visiting these poi...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2013-03-01
|
| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/55535 |
| _version_ | 1818559205020270592 |
|---|---|
| author | Erik Hernández Jaime del Cerro Antonio Barrientos |
| author_facet | Erik Hernández Jaime del Cerro Antonio Barrientos |
| author_sort | Erik Hernández |
| collection | DOAJ |
| description | This work is focused on the problem of performing multi-robot patrolling for infrastructure security applications in order to protect a known environment at critical facilities. Thus, given a set of robots and a set of points of interest, the patrolling task consists of constantly visiting these points at irregular time intervals for security purposes. Current existing solutions for these types of applications are predictable and inflexible. Moreover, most of the previous work has tackled the patrolling problem with centralized and deterministic solutions and only few efforts have been made to integrate dynamic methods. Therefore, one of the main contributions of this work is the development of new dynamic and decentralized collaborative approaches in order to solve the aforementioned problem by implementing learning models from Game Theory . The model selected in this work that includes belief-based and reinforcement models as special cases is called Experience-Weighted Attraction . The problem has been defined using concepts of Graph Theory to represent the environment in order to work with such Game Theory techniques. Finally, the proposed methods have been evaluated experimentally by using a patrolling simulator. The results obtained have been compared with previous available approaches. |
| first_indexed | 2024-12-14T00:22:22Z |
| format | Article |
| id | doaj.art-af2bcbf8f8e34476b04fa7a068699986 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-14T00:22:22Z |
| publishDate | 2013-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-af2bcbf8f8e34476b04fa7a0686999862022-12-21T23:25:11ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-03-011010.5772/5553510.5772_55535Game Theory Models for Multi-Robot Patrolling of InfrastructuresErik Hernández0Jaime del Cerro1Antonio Barrientos2 Center for Robotis and Automation, UPM-CSIC, Madrid. Spain Center for Robotis and Automation, UPM-CSIC, Madrid. Spain Center for Robotis and Automation, UPM-CSIC, Madrid. SpainThis work is focused on the problem of performing multi-robot patrolling for infrastructure security applications in order to protect a known environment at critical facilities. Thus, given a set of robots and a set of points of interest, the patrolling task consists of constantly visiting these points at irregular time intervals for security purposes. Current existing solutions for these types of applications are predictable and inflexible. Moreover, most of the previous work has tackled the patrolling problem with centralized and deterministic solutions and only few efforts have been made to integrate dynamic methods. Therefore, one of the main contributions of this work is the development of new dynamic and decentralized collaborative approaches in order to solve the aforementioned problem by implementing learning models from Game Theory . The model selected in this work that includes belief-based and reinforcement models as special cases is called Experience-Weighted Attraction . The problem has been defined using concepts of Graph Theory to represent the environment in order to work with such Game Theory techniques. Finally, the proposed methods have been evaluated experimentally by using a patrolling simulator. The results obtained have been compared with previous available approaches.https://doi.org/10.5772/55535 |
| spellingShingle | Erik Hernández Jaime del Cerro Antonio Barrientos Game Theory Models for Multi-Robot Patrolling of Infrastructures International Journal of Advanced Robotic Systems |
| title | Game Theory Models for Multi-Robot Patrolling of Infrastructures |
| title_full | Game Theory Models for Multi-Robot Patrolling of Infrastructures |
| title_fullStr | Game Theory Models for Multi-Robot Patrolling of Infrastructures |
| title_full_unstemmed | Game Theory Models for Multi-Robot Patrolling of Infrastructures |
| title_short | Game Theory Models for Multi-Robot Patrolling of Infrastructures |
| title_sort | game theory models for multi robot patrolling of infrastructures |
| url | https://doi.org/10.5772/55535 |
| work_keys_str_mv | AT erikhernandez gametheorymodelsformultirobotpatrollingofinfrastructures AT jaimedelcerro gametheorymodelsformultirobotpatrollingofinfrastructures AT antoniobarrientos gametheorymodelsformultirobotpatrollingofinfrastructures |