A Multi-robot System for Patrolling Task via Stochastic Fictitious Play

Erik Hernández, Antonio Barrientos, Jaime del Cerro, Claudio Rossi

Abstract

A great deal of work has been done in recent years on the multi-robot patrolling problem. In such problem a team of robots is engaged to supervise an infrastructure. Commonly, the patrolling tasks are performed with the objective of visiting a set of points of interest. This problem has been solved in the literature by developing deterministic and centralized solutions, which perform better than decentralized and non-deterministic approaches in almost all cases. However, deterministic methods are not suitable for security purpose due to their predictability. This work provides a new decentralized and non-deterministic approach based on the model of Game Theory called Stochastic Fictitious Play (SFP) to perform security tasks at critical facilities. Moreover, a detailed study aims at providing additional insight of this learning model into the multi-robot patrolling context is presented. Finally, the approach developed in this work is analyzed and compared with other methods proposed in the literature by utilizing a patrolling simulator.

References

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Paper Citation


in Harvard Style

Hernández E., Barrientos A., del Cerro J. and Rossi C. (2013). A Multi-robot System for Patrolling Task via Stochastic Fictitious Play . In Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-8565-38-9, pages 407-410. DOI: 10.5220/0004259504070410


in Bibtex Style

@conference{icaart13,
author={Erik Hernández and Antonio Barrientos and Jaime del Cerro and Claudio Rossi},
title={A Multi-robot System for Patrolling Task via Stochastic Fictitious Play},
booktitle={Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},
year={2013},
pages={407-410},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004259504070410},
isbn={978-989-8565-38-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 5th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - A Multi-robot System for Patrolling Task via Stochastic Fictitious Play
SN - 978-989-8565-38-9
AU - Hernández E.
AU - Barrientos A.
AU - del Cerro J.
AU - Rossi C.
PY - 2013
SP - 407
EP - 410
DO - 10.5220/0004259504070410