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Multi-robot patrolling is a problem that has important applications in security and surveillance. However, the optimal task assignment is known to be NP-hard. We consider evenly spacing the robots in a cyclic Traveling Salesman Problem (TSP) tour or partitioning the graph of the environment. The trade-off in performance, overall team travel cost and coordination is analyzed in this paper. We provide...
On typical multi-robot teams, there is an implicit assumption that robots can be trusted to effectively perform assigned tasks. The multi-robot patrolling task is an example of a domain that is particularly sensitive to reliability and performance of robots. Yet reliable performance of team members may not always be a valid assumption even within homogeneous teams. For instance, a robot's performance...
This paper focuses on enabling multi-robot teams to cooperatively perform tasks without the use of radio or acoustic communication. One key to more effective cooperative interaction in a multi-robot team is the ability to understand the behavior and intent of other robots. This is similar to the honey bee “waggle dance” in which a bee can communicate the orientation and distance of a food source....
On typical multi-robot teams, there is an implicit assumption that robots can be trusted to effectively perform assigned tasks. However, reliable performance of team members may not always be a valid assumption. For instance, a robot's performance may deteriorate over time or a robot may not estimate tasks correctly. Traditional health monitoring techniques call attention to an operator or assume...
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