Please use this identifier to cite or link to this item: https://hdl.handle.net/10316/27726
DC FieldValueLanguage
dc.contributor.authorPortugal, David-
dc.contributor.authorRocha, Rui P.-
dc.date.accessioned2014-11-25T11:32:01Z-
dc.date.available2014-11-25T11:32:01Z-
dc.date.issued2013-12-
dc.identifier.citationPORTUGAL, 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. 1572–1587por
dc.identifier.issn0921-8890-
dc.identifier.urihttps://hdl.handle.net/10316/27726-
dc.description.abstractThis 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.por
dc.language.isoengpor
dc.publisherElsevierpor
dc.rightsopenAccesspor
dc.subjectDistributed systemspor
dc.subjectMulti-robot patrolpor
dc.subjectScalabilitypor
dc.subjectFault-tolerancepor
dc.subjectSecuritypor
dc.titleDistributed multi-robot patrol: a scalable and fault-tolerant frameworkpor
dc.typearticlepor
degois.publication.firstPage1572por
degois.publication.lastPage1587por
degois.publication.issue12por
degois.publication.titleRobotics and Autonomous Systemspor
dc.relation.publisherversionhttp://www.sciencedirect.com/science/article/pii/S0921889013001206por
dc.peerreviewedYespor
dc.identifier.doi10.1016/j.robot.2013.06.011-
degois.publication.volume61por
uc.controloAutoridadeSim-
item.fulltextCom Texto completo-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.grantfulltextopen-
item.languageiso639-1en-
item.openairetypearticle-
item.cerifentitytypePublications-
crisitem.author.researchunitISR - Institute of Systems and Robotics-
crisitem.author.researchunitISR - Institute of Systems and Robotics-
crisitem.author.parentresearchunitUniversity of Coimbra-
crisitem.author.parentresearchunitUniversity of Coimbra-
crisitem.author.orcid0000-0002-9259-4218-
crisitem.author.orcid0000-0002-4612-3554-
Appears in Collections:I&D ISR - Artigos em Revistas Internacionais
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