On cooperative patrolling: Optimal trajectories, complexity analysis, and approximation algorithms

IEEE Transactions on Robotics

Volumn 28, Issue 3, 2012, Pages 592-606

  Pasqualetti, Fabio ^a   Franchi, Antonio ^b   Bullo, Francesco ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b MAX PLANCK INSTITUTE FOR BIOLOGICAL CYBERNETICS   (Germany)

Author keywords

Algorithm design and analysis; combinatorial mathematics; distributed algorithms; graph partition; mobile agents; multirobot systems; network theory (graphs); patrol

Indexed keywords

ALGORITHM DESIGN AND ANALYSIS; CHAIN GRAPH; COMPLEXITY ANALYSIS; CONSTANT-FACTOR APPROXIMATION ALGORITHMS; CYCLIC GRAPH; DISTRIBUTED CONTROL LAW; GRAPH PARTITION; MULTI-ROBOT SYSTEMS; NP-HARD; OPEN LOOPS; OPTIMAL PROPERTIES; OPTIMAL TRAJECTORIES; PATROL; PERFORMANCE CRITERION; POLYNOMIAL-TIME ALGORITHMS; REFRESH TIME; TIME GAP; TREE GRAPH;

APPROXIMATION ALGORITHMS; AUTONOMOUS AGENTS; COMBINATORIAL MATHEMATICS; DISTRIBUTED PARAMETER CONTROL SYSTEMS; FORESTRY; MOBILE AGENTS; OPTIMIZATION; PARALLEL ALGORITHMS; POLYNOMIAL APPROXIMATION; TRAJECTORIES;

TREES (MATHEMATICS);

ALGORITHMS; DISTRIBUTED CONTROL; GRAPHIC METHODS; MATHEMATICAL ANALYSIS; MOBILE EQUIPMENT; NETWORKS; PARAMETERS; TRAJECTORIES;

EID: 84862023448     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2011.2179580     Document Type: Article

References (31)

1. J. Clark and R. Fierro, "Mobile robotic sensors for perimeter detection and tracking," ISA Trans., vol. 46, no. 1, pp. 3-13, 2007.
2. D. B. Kingston, R. W. Beard, and R. S. Holt, "Decentralized perimeter surveillance using a team of UAVs," IEEE Trans. Robot., vol. 24, no. 6, pp. 1394-1404, Dec. 2008.
3. S. Susca, S. Mart́inez, and F.Bullo, "Monitoring environmental boundaries with a robotic sensor network," IEEE Trans. Control Syst. Technol., vol. 16, no. 2, pp. 288-296, Mar. 2008.
4. Y. Elmaliach, A. Shiloni, and G. A. Kaminka, "A realistic model of frequency-based multi-robot polyline patrolling," in Proc. Int. Conf. Auton. Agents, Estoril, Portugal, May 2008, pp. 63-70.
5. B. C. Tansel, R. L. Francis, and T. J. Lowe, "Location on networks: A survey. Part I: The p-center and p-median problems," Manage. Sci., vol. 29, no. 4, pp. 482-497, 1983.
6. T. Bektas, "The multiple traveling salesman problem: An overview of formulations and solution procedures," Omega, vol. 34, no. 3, pp. 209-219, 2006.
7. E. M. Arkin, R. Hassin, and A. Levin, "Approximations for minimum and min-max vehicle routing problems," J. Algorithms, vol. 59, no. 1, pp. 1-18, 2006.
8. M. Batalin and G. S. Sukhatme, "The design and analysis of an efficient local algorithm for coverage and exploration based on sensor network deployment," IEEE Trans. Robot., vol. 23, no. 4, pp. 661-675, Aug. 2007.
9. N. Agmon, S. Kraus, and G. A. Kaminka, "Multi-robot perimeter patrol in adversarial settings," in Proc. IEEE Int. Conf. Robot. Autom., Pasadena, CA, May. 2008, pp. 2339-2345.
10. F. Amigoni, N. Basilico, and N. Gatti, "Finding the optimal strategies for robotic patrolling with adversaries in topologically-represented environments," in Proc. IEEE Int. Conf. Robot. Autom., Kobe, Japan, May 2009, pp. 2005-2010.
11. A. Marino, L. Parker, G. Antonelli, and F. Caccavale, "Behavioral control for multi-robot perimeter patrol: A finite state automata approach," in Proc. IEEE Int. Conf. Robot. Autom., Kobe, Japan, May 2009, pp. 3350-3355.
12. D. A. Anisi, P. Ö gren, andX.Hu, "Cooperative minimum time surveillance with multiple ground vehicles," IEEE Trans. Automat. Control, vol. 55, no. 12, pp. 2679-2691, Dec. 2010.
13. A. Almeida, G. Ramalho, H. Santana, P. Tedesco, T. Menezes, V. Corruble, and Y. Chevaleyre, "Recent advances on multi-agent patrolling," in Advances in Artificial Intelligence-SBIA. vol. 3171, New York: Springer, 2004, pp. 474-483.
14. A. Machado, G. Ramalho, J. D. Zucker, and A. Drogoul, "Multi-agent patrolling: An empirical analysis of alternative architectures," in Multi-Agent-Based Simulation II (ser. Lecture Notes in Computer Science). New York: Springer, 2003, pp. 155-170.
15. Y. Chevaleyre, "Theoretical analysis of the multi-agent patrolling problem," in Proc. IEEE/WIC/ACM Int. Conf. Intell. Agent Technol., Beijing, China, Sep. 2004, pp. 302-308.
16. S. L. Smith andD. Rus, "Multi-robot monitoring in dynamic environments with guaranteed currency of observations," in Proc. IEEE Conf. Decis. Control, Atlanta, GA, Dec. 2010, pp. 514-521.
17. R. E. Korf, "Real-time heuristic search: New results," in Proc. Nat. Conf. Artif. Intell., San Paul, MN, Aug. 1988, pp. 139-144.
18. G. Dudek, M. Jenkin, E. Milios, and D. Wilkes, "Robotic exploration as graph construction," IEEE Trans. Robot. Autom., vol. 7, no. 6, pp. 859-865, Dec. 1991.
19. M. A. Bender, A. Ferńandez, D. Ron, A. Sahai, and S. Vadhan, "The power of a pebble: Exploring and mapping directed graphs," Inf. Comput., vol. 176, no. 1, pp. 1-21, 2002.
20. I. A.Wagner, M. Lindenbaum, and A. M. Bruckstein, "Efficiently searching a graph by a smell-oriented vertex process," Ann. Math. Artif. Intell., vol. 24, no. 1, pp. 211-223, 1998.
21. F. Pasqualetti, A. Franchi, and F. Bullo, "On optimal cooperative patrolling," in Proc. IEEE Conf. Decis. Control, Atlanta, GA, Dec. 2010, pp. 7153-7158.
22. S. M. LaValle, Planning Algorithms. Cambridge, U.K.: Cambridge Univ. Press, 2006.
23. J. O'Rourke, Art Gallery Theorems and Algorithms. London, U.K.: Oxford Univ. Press, 1987.
24. K. J. Obermeyer, A. Ganguli, and F. Bullo, "Multi-agent deployment for visibility coverage in polygonal environments with holes," Int. J. Robust Nonlinear Control, vol. 21, no. 12, pp. 1467-1492, 2011.
25. I. A. Wagner, M. Lindenbaum, and A. M. Bruckstein, "MAC vs. PC: Determinism and randomness as complementary approaches to robotic exploration of continuous unknown domains," Int. J. Robot. Res., vol. 19, no. 1, pp. 12-31, 2000.
26. A. Franchi, L. Freda, G. Oriolo, and M. Vendittelli, "The sensor-based random graph method for cooperative robot exploration," IEEE/ASME Trans. Mechatronics, vol. 14, no. 2, pp. 163-175, Apr. 2009.
27. M. R. Garey and D. S. Johnson, Computers and Intractability. New York: Springer, 1979.
28. S. Arora, "Polynomial-time approximation schemes for the Euclidean TSP and other geometric problems," J. ACM, vol. 45, no. 5, pp. 753-782, 1998.
29. D. Peleg, Distributed Computing. A Locality-Sensitive Approac, (ser. Monographs on Discrete Mathematics and Applications). Philadelphia, PA: SIAM, 2000.
30. H. Nagamochi and K. Okada, "A faster 2-approximation algorithm for the minmax p-traveling salesmen problem on a tree," Discrete Appl. Math., vol. 140, no. 1-3, pp. 103-114, 2004.
31. V. V. Vazirani, Approximation Algorithms. New York: Springer, 2001.