Distributed online patrolling with multi-agent teams of sentinels and searchers
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Author
Chung, Timothy H.
Basilico, Nicola
Carpin, Stefano
Date
2016-01Metadata
Show full item recordAbstract
We consider the problem of patrolling an assigned area using a team
of heterogeneous robots consisting of sentinels and searchers in the presence of
stochastic arrivals of attacks. Sentinels and searchers operate using a different sensor
model featuring a tradeoff between accuracy and the sensed area. Using an approach
based on queuing theory, we derive an accurate analytic characterization of
the patrolling performance that can be used to predict the behavior of a given configuration
or inform the composition of a team in order to meet a desired target
performance. Extensive simulation results corroborate our theoretical findings.
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.Collections
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