Distributed multi-robot patrol: a scalable and fault-tolerant framework
Autor(a) principal: | |
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Data de Publicação: | 2013 |
Outros Autores: | |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10316/27726 https://doi.org/10.1016/j.robot.2013.06.011 |
Resumo: | This paper addresses the Multi-Robot Patrolling Problem, where agents must coordinate their actions while continuously deciding which place to move next after clearing their locations. This problem is commonly addressed using centralized planners with global knowledge and/or calculating a priori routes for all robots before the beginning of the mission. In this work, two distributed techniques to solve the problem are proposed. These are motivated by the need to adapt to the changes in the system at any time and the possibility to add or remove patrolling agents (e.g., due to faults). The first technique presented is greedy and aims to maximize robot’s local gain. The second one is an extension of the former, which takes into account the distribution of agents in the space to reduce interference and foster scalability. The validation of the proposed solution is preliminarily conducted through realistic simulations as well as experiments with robot platforms in a small lab scenario. Subsequently, the work is verified in a large indoor real-world environment with a team of autonomous mobile robots with scalability and fault-tolerance assessment. |
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Distributed multi-robot patrol: a scalable and fault-tolerant frameworkDistributed systemsMulti-robot patrolScalabilityFault-toleranceSecurityThis paper addresses the Multi-Robot Patrolling Problem, where agents must coordinate their actions while continuously deciding which place to move next after clearing their locations. This problem is commonly addressed using centralized planners with global knowledge and/or calculating a priori routes for all robots before the beginning of the mission. In this work, two distributed techniques to solve the problem are proposed. These are motivated by the need to adapt to the changes in the system at any time and the possibility to add or remove patrolling agents (e.g., due to faults). The first technique presented is greedy and aims to maximize robot’s local gain. The second one is an extension of the former, which takes into account the distribution of agents in the space to reduce interference and foster scalability. The validation of the proposed solution is preliminarily conducted through realistic simulations as well as experiments with robot platforms in a small lab scenario. Subsequently, the work is verified in a large indoor real-world environment with a team of autonomous mobile robots with scalability and fault-tolerance assessment.Elsevier2013-12info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttp://hdl.handle.net/10316/27726http://hdl.handle.net/10316/27726https://doi.org/10.1016/j.robot.2013.06.011engPORTUGAL, David; ROCHA, Rui P. - Distributed multi-robot patrol: a scalable and fault-tolerant framework. "Robotics and Autonomous Systems". ISSN 0921-8890. Vol. 61 Nº. 12 (2013) p. 1572–15870921-8890http://www.sciencedirect.com/science/article/pii/S0921889013001206Portugal, DavidRocha, Rui P.info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2020-05-25T12:19:30Zoai:estudogeral.uc.pt:10316/27726Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T20:53:46.356003Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Distributed multi-robot patrol: a scalable and fault-tolerant framework |
title |
Distributed multi-robot patrol: a scalable and fault-tolerant framework |
spellingShingle |
Distributed multi-robot patrol: a scalable and fault-tolerant framework Portugal, David Distributed systems Multi-robot patrol Scalability Fault-tolerance Security |
title_short |
Distributed multi-robot patrol: a scalable and fault-tolerant framework |
title_full |
Distributed multi-robot patrol: a scalable and fault-tolerant framework |
title_fullStr |
Distributed multi-robot patrol: a scalable and fault-tolerant framework |
title_full_unstemmed |
Distributed multi-robot patrol: a scalable and fault-tolerant framework |
title_sort |
Distributed multi-robot patrol: a scalable and fault-tolerant framework |
author |
Portugal, David |
author_facet |
Portugal, David Rocha, Rui P. |
author_role |
author |
author2 |
Rocha, Rui P. |
author2_role |
author |
dc.contributor.author.fl_str_mv |
Portugal, David Rocha, Rui P. |
dc.subject.por.fl_str_mv |
Distributed systems Multi-robot patrol Scalability Fault-tolerance Security |
topic |
Distributed systems Multi-robot patrol Scalability Fault-tolerance Security |
description |
This paper addresses the Multi-Robot Patrolling Problem, where agents must coordinate their actions while continuously deciding which place to move next after clearing their locations. This problem is commonly addressed using centralized planners with global knowledge and/or calculating a priori routes for all robots before the beginning of the mission. In this work, two distributed techniques to solve the problem are proposed. These are motivated by the need to adapt to the changes in the system at any time and the possibility to add or remove patrolling agents (e.g., due to faults). The first technique presented is greedy and aims to maximize robot’s local gain. The second one is an extension of the former, which takes into account the distribution of agents in the space to reduce interference and foster scalability. The validation of the proposed solution is preliminarily conducted through realistic simulations as well as experiments with robot platforms in a small lab scenario. Subsequently, the work is verified in a large indoor real-world environment with a team of autonomous mobile robots with scalability and fault-tolerance assessment. |
publishDate |
2013 |
dc.date.none.fl_str_mv |
2013-12 |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10316/27726 http://hdl.handle.net/10316/27726 https://doi.org/10.1016/j.robot.2013.06.011 |
url |
http://hdl.handle.net/10316/27726 https://doi.org/10.1016/j.robot.2013.06.011 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
PORTUGAL, David; ROCHA, Rui P. - Distributed multi-robot patrol: a scalable and fault-tolerant framework. "Robotics and Autonomous Systems". ISSN 0921-8890. Vol. 61 Nº. 12 (2013) p. 1572–1587 0921-8890 http://www.sciencedirect.com/science/article/pii/S0921889013001206 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.publisher.none.fl_str_mv |
Elsevier |
publisher.none.fl_str_mv |
Elsevier |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
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1799133823794937856 |