Patrolling security games: Definition and algorithms for solving large instances with single patroller and single intruder

Artificial Intelligence

Volumn 184-185, Issue , 2012, Pages 78-123

  Basilico, Nicola ^a   Gatti, Nicola ^a   Amigoni, Francesco ^a  

^a POLITECNICO DI MILANO   (Italy)

Author keywords

Adversarial patrolling; Algorithmic game theory; Security games

Indexed keywords

ADVERSARIAL PATROLLING; ALGORITHMIC GAME THEORY; ARBITRARY GRAPHS; INFINITE HORIZONS; LEADER-FOLLOWER; NORMAL FORM; SECURITY GAMES; SINGLE DECISION; SOLUTION CONCEPTS; STACKELBERG GAMES;

ARTIFICIAL INTELLIGENCE; GAME THEORY;

ALGORITHMS;

EID: 84859701666     PISSN: 00043702     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.artint.2012.03.003     Document Type: Article

References (66)

1. M. Adler, H. Räcke, N. Sivadasan, C. Sohler, and B. Vöcking Randomized pursuit-evasion in graphs Combinatorics, Probability and Computing 12 2003 225 244
2. N. Agmon, On events in multi-robot patrol in adversarial environments, in: Proceedings of International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), 2010, pp. 591-598.
3. N. Agmon, S. Kraus, G. Kaminka, Multi-robot perimeter patrol in adversarial settings, in: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008, pp. 2339-2345.
4. N. Agmon, S. Kraus, G. Kaminka, Uncertainties in adversarial patrol, in: Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), 2009, pp. 1267-1268.
5. N. Agmon, S. Kraus, G. Kaminka, V. Sadov, Adversarial uncertainty in multi-robot patrol, in: Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 2009, pp. 1811-1817.
6. N. Agmon, V. Sadov, G. Kaminka, S. Kraus, The impact of adversarial knowledge on adversarial planning in perimeter patrol, in: Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), 2008, pp. 55-62.
7. A. Almeida, G. Ramalho, H. Santana, P. Tedesco, T. Menezes, V. Corruble, Y. Chevaleyre, Recent advances on multi-agent patrolling, in: Proceedings of the Brazilian Symposium on Artificial Intelligence (SBIA), 2004, pp. 126-138.
8. S. Alpen Infiltration games on arbitrary graphs Journal of Mathematical Analysis and Applications 163 1 1992 286 288
9. F. Amigoni, N. Gatti, A. Ippedico, A game-theoretic approach to determining efficient patrolling strategies for mobile robots, in: Proceedings of the IEEE/WIC/ACM International Conference on Agent Intelligent Technology (IAT), Sydney, Australia, 2008, pp. 500-503.
10. N. Basilico, N. Gatti, Automated abstractions for patrolling security games, in: Proceedings of the National Conference on Artificial Intelligence (AAAI), 2011, pp. 1096-1099.
11. N. Basilico, N. Gatti, F. Amigoni, Developing a deterministic patrolling strategy for security agents, in: Proceedings of the IEEE/WIC/ACM International Conference on Intelligent Agent Technology (IAT), 2009, pp. 565-572.
12. N. Basilico, N. Gatti, F. Amigoni, Leader-follower strategies for robotic patrolling in environments with arbitrary topologies, in: Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), 2009, pp. 57-64.
13. N. Basilico, N. Gatti, T. Rossi, S. Ceppi, F. Amigoni, Extending algorithms for mobile robot patrolling in the presence of adversaries to more realistic settings, in: Proceedings of the IEEE/WIC/ACM International Conference on Intelligent Agent Technology (IAT), 2009, pp. 557-564.
14. N. Basilico, N. Gatti, P. Testa, Talos: A tool for designing security applications with mobile patrolling robots, in: Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), 2011, pp. 1317-1318.
15. N. Basilico, N. Gatti, F. Villa, Asynchronous multi-robot patrolling against intrusion in arbitrary topologies, in: Proceedings of the National Conference on Artificial Intelligence (AAAI), 2010, pp. 1224-1229.
16. N. Basilico, D. Rossignoli, N. Gatti, F. Amigoni, A game-theoretical model applied to an active patrolling camera, in: Proceedings of the International Conference on Emerging Security Technologies (EST), 2010, pp. 130-135.
17. M. Bazaraa, H. Sherali, and C. Shetty Nonlinear Programming: Theory and Algorithms 2006 Wiley
18. Y. Chevaleyre, Theoretical analysis of the multi-agent patrolling problem, in: Proceedings of the IEEE/WIC/ACM International Conference on Agent Intelligent Technology (IAT), Beijing, China, 2004, pp. 302-308. (Pubitemid 40456694)
19. N. Christofides, and J. Beasley The period routing problem Networks 14 2 1984 237 256
20. V. Conitzer, T. Sandholm, Computing the optimal strategy to commit to, in: Proceedings of the ACM Conference on Electronic Commerce (EC), 2006, pp. 82-90. (Pubitemid 44393627)
21. D. Draper, A.K. Jónsson, D.P. Clements, D. Joslin, Cyclic scheduling, in: Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 1999, pp. 1016-1021.
22. Y. Elmaliach, N. Agmon, G. Kaminka, Multi-robot area patrol under frequency constraints, in: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2007, pp. 385-390. (Pubitemid 350140217)
23. Y. Elmaliach, A. Shiloni, G. Kaminka, A realistic model of frequency-based multi-robot polyline patrolling, in: Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), 2008, pp. 63-70.
24. M.M. Flood The hide and seek game of von Neumann Management Science 18 5 1972 107 109
25. R. Fourer, D.M. Gay, and B.W. Kernighan A modeling language for mathematical programming Management Science 36 5 1990 519 554
26. P. Francis, K. Smilowitz, and M. Tzur The period vehicle routing problem with service choice Transportation Science 40 4 2006 439 454 (Pubitemid 44746134)
27. D. Fudenberg, and J. Tirole Game Theory 1991 The MIT Press
28. S. Gal Search Games 1980 Academic Press
29. N. Gatti, Game theoretical insights in strategic patrolling: Model and algorithm in normal form, in: Proceedings of the European Conference on Artificial Intelligence (ECAI), 2008, pp. 403-407.
30. A. Gilpin, and T. Sandholm Lossless abstraction of imperfect information games Journal of the ACM 54 5 2007
31. A. Gilpin, T. Sandholm, T.B. Sørensen, A heads-up no-limit Texas hold'em poker player: Discretized betting models and automatically generated equilibrium-finding programs, in: Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), 2008, pp. 911-918.
32. A. Girard, A. Howell, J.K. Hedrick, Border patrol and surveillance missions using multiple unmanned air vehicles, in: Proceedings of the IEEE Conference on Decision and Control (CDC), 2004, pp. 620-625. (Pubitemid 40291402)
33. A. Glad, O. Simonin, O. Buffet, F. Charpillet, Theoretical study of ant-based algorithms for multi-agent patrolling, in: Proceedings of European Conference on Artificial Intelligence (ECAI), 2008, pp. 626-630.
34. D. Gulczynski, B. Golden, and E. Wasil The period vehicle routing problem: New heuristics and real-world variants Transportation Research Part E: Logistics and Transportation Review 47 5 2011 648 668
35. Y. Guo, L. Parker, and R. Madhavan Collaborative robots for infrastructure security applications Mobile Robots: The Evolutionary Approach Book Series on Intelligent Systems Engineering vol. 50 2007 185 200
36. A. Howard, N. Roy, The robotics data set repository (radish), 2003.
37. ILOG CP, http://www.ilog.com/products/cp/.
38. V. Isler, S. Kannan, and S. Khanna Randomized pursuit-evasion in a polygonal environment IEEE Transactions on Robotics 5 21 2005 864 875
39. M. Jain, J. Pita, M. Tambe, F. Ordóñez, P. Paruchuri, and S. Kraus Bayesian Stackelberg games and their application for security at Los Angeles International Airport SIGecom Exchanges 7 2 2008
40. C. Kiekintveld, M. Jain, J. Tsai, J. Pita, F. Ordóñez, M. Tambe, Computing optimal randomized resource allocations for massive security games, in: Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), 2009, pp. 689-696.
41. A. Kolen, A. Kan, and H. Trienekens Vehicle routing with time windows Operations Research 35 2 1987 266 273
42. D. Koller, N. Megiddo, and B. von Stengel Efficient computation of equilibria for extensive two-person games Games and Economic Behavior 14 2 1996 220 246
43. A. Kolling, S. Carpin, Extracting surveillance graphs from robot maps, in: Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 2008, pp. 2323-2328.
44. D. Kreps, and R. Wilson Sequential equilibria Econometrica 50 4 1982 863 894
45. J. Letchford, V. Conitzer, Computing optimal strategies to commit to in extensive-form games, in: Proceedings of the ACM Conference on Electronic Commerce (EC), 2010, pp. 83-92.
46. A. Machado, G. Ramalho, J.-D. Zucker, A. Drogoul, Multi-agent patrolling: An empirical analysis of alternative architectures, in: Proceedings of the Third International Workshop on Multi-Agent-Based Simulation (MABS2002), vol. 2581, 2003, pp. 155-170. (Pubitemid 36242310)
47. J.S. Marier, C. Besse, B. Chaib-draa, Solving the continuous time multiagent patrol problem, in: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2010, pp. 941-946.
48. L. Martins-Filho, and E. Macau Patrol mobile robots and chaotic trajectories Mathematical Problems in Engineering 2007 Hindawi
49. C. Papadimitriou Computational Complexity 1993 Addison-Wesley
50. P. Paruchuri, J. Pearce, J. Marecki, M. Tambe, F. Ordonez, S. Kraus, Playing games for security: An efficient exact algorithm for solving Bayesian Stackelberg games, in: Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), 2008, pp. 895-902.
51. P. Paruchuri, J. Pearce, M. Tambe, F. Ordonez, S. Kraus, An efficient heuristic approach for security against multiple adversaries, in: Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), 2007, pp. 311-318.
52. J. Pita, M. Jain, J. Marecki, F. Ordonez, C. Portway, M. Tambe, C. Western, P. Paruchuri, S. Kraus, Deployed ARMOR protection: The application of a game theoretic model for security at the Los Angeles International Airport, in: Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), 2010, pp. 125-132.
53. B. Raa, and E. Aghezzaf A practical solution approach for the cyclic inventory routing problem European Journal of Operational Research 192 2 2009 429 441
54. S. Ruan, C. Meirina, F. Yu, K. Pattipati, R. Popp, Patrolling in a stochastic environment, in: Proceeding of the International Command and Control Research and Technology Symposium (CCRTS), 2005.
55. A. Rubinstein Perfect equilibrium in a bargaining model Econometrica 50 1 1982 97 109
56. W. Ruckle, R. Fennel, P.T. Holmes, and C. Fennemore Ambushing random walk. I: Finite models Operations Research 24 1976 314 324
57. S. Russell, and P. Norvig Artificial Intelligence: A Modern Approach third ed. 2010 Prentice Hall
58. T. Sak, J. Wainer, S.K. Goldenstein, Probabilistic multiagent patrolling, in: Proceedings of the Brazilian Symposium on Artificial Intelligence (SBIA), 2008, pp. 124-133.
59. H. Santana, G. Ramalho, V. Corruble, B. Ratitch, Multi-agent patrolling with reinforcement learning, in: Proceedings of the Third International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), 2004, pp. 1120-1127.
60. Y. Shoham, and K. Leyton-Brown Multiagent Systems: Algorithmic, Game Theoretic and Logical Foundations 2008 Cambridge University Press
61. Stanford Business Software Inc., http://www.sbsi-sol-optimize.com/.
62. J. Tsai, Z. Yin, J.-Y. Kwak, D. Kempe, C. Kiekintveld, M. Tambe, How to protect a city: Strategic security placement in graph-based domains, in: Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), 2010, pp. 1453-1454.
63. J. Tsitsiklis Special cases of traveling salesman and repairman problems with time windows Networks 22 3 1992 263 282
64. B. von Stengel, S. Zamir, Leadership with commitment to mixed strategies, CDAM Research Report LSE-CDAM-2004-01, London School of Economics, 2004.
65. A. Wahsburn, and K. Wood Two-person zero-sum games for network interdiction Operations Research 43 2 1995 243 251
66. V. Yanovski, I. Wagner, and A. Bruckstein A distributed ant algorithm for efficiently patrolling a network Algorithmica 37 2003 165 186