On the Performance and Scalability of Multi-Robot Patrolling Algorithms

D. Portugal and R. P. Rocha

In Proc. of 9th IEEE Int. Symposium on Safety, Security, and Rescue Robotics (SSRR’2011), Kyoto, Japan, pp. 50-55, Nov. 1-5, 2011.

Abstract

Several distinct multi-robot patrolling strategies have been presented for the last decade in the context of security applications. However, there is a deficit of studies comparing these strategies, namely in terms of their performance and the scalability in the number of robots. For that reason, in this paper, an evaluation of five representative patrolling approaches is presented. This analysis is based on realistic simulation results using ROS and a performance metric represented by the average idleness of the topological environment (i.e., graph) that represents the area to patrol. The results presented help to identify which strategies enable enhanced team scalability and which are the most suitable approaches given any environment.

Index Terms — Multi-robot systems, patrolling, security, scalability.

Full text

You may ask Rui Rocha for an electronic copy of this publication’s full text by e-mail:
.

Please select for your message’s subject ‘Requesting Rui Rocha’s electronic copy’ and include on the message’s body your full name, title and affiliation, why do you need to access the publication and the BibTeX information below.

BibTeX

@INPROCEEDINGS(Portugal_et_al_11b,

AUTHOR = "Portugal, D. and Rocha, R. P.",

TITLE = "On the Performance and Scalability of Multi-Robot Patrolling Algorithms",

BOOKTITLE = "In Proc. of 9th IEEE Int. Symposium on Safety, Security, and Rescue Robotics (SSRR’2011)",

ADDRESS = "Kyoto, Japan",

YEAR = "2011",

MONTH = "Nov.",

PAGES = "50-55"

)

(top of the page)

Last update: 01/11/2011