Dynamic, cooperative multi-robot patrolling with a team of UAVs

Charles E. Pippin; Henrik Christensen; Lora Weiss

doi:10.1117/12.2014978

17 May 2013 Dynamic, cooperative multi-robot patrolling with a team of UAVs

Charles E. Pippin, Henrik Christensen, Lora Weiss

Proceedings Volume 8741, Unmanned Systems Technology XV; 874103 (2013) https://doi.org/10.1117/12.2014978
Event: SPIE Defense, Security, and Sensing, 2013, Baltimore, Maryland, United States

Abstract

The multi-robot patrolling task has practical relevance in surveillance, search and rescue, and security appli- cations. In this task, a team of robots must repeatedly visit areas in the environment, minimizing the time in-between visits to each. A team of robots can perform this task efficiently; however, challenges remain related to team formation and task assignment. This paper presents an approach for monitoring patrolling performance and dynamically adjusting the task assignment function based on observations of teammate performance. Experimental results are presented from realistic simulations of a cooperative patrolling scenario, using a team of UAVs.

Citation Download Citation

Charles E. Pippin, Henrik Christensen, and Lora Weiss "Dynamic, cooperative multi-robot patrolling with a team of UAVs", Proc. SPIE 8741, Unmanned Systems Technology XV, 874103 (17 May 2013); https://doi.org/10.1117/12.2014978

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