Abstract
Patrolling is concerned with the design of continuous trajectories which specify robots perpetual movements along a curve so that the time between any two consecutive visits to any point of the curve is minimized. In this paper we survey recent rigorous results on patrolling by various number of robots and robots’ specifications (e.g., speed), and for various types of curves. We discuss efficient patrolling strategies for mobile agents with various capabilities and behaviors acting on a variety of geometric graph domains.
Research supported in part by NSERC Discovery grants.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Agmon, N., Kraus, S., Kaminka, G.A.: Multi-robot perimeter patrol in adversarial settings. In: ICRA, pp. 2339–2345 (2008)
Almeida, A., et al.: Recent advances on multi-agent patrolling. In: Bazzan, A.L.C., Labidi, S. (eds.) SBIA 2004. LNCS, vol. 3171, pp. 474–483. Springer, Heidelberg (2004). https://doi.org/10.1007/978-3-540-28645-5_48
Bampas, E., Gąsieniec, L., Hanusse, N., Ilcinkas, D., Klasing, R., Kosowski, A.: Euler tour lock-in problem in the rotor-router model. In: Keidar, I. (ed.) DISC 2009. LNCS, vol. 5805, pp. 423–435. Springer, Heidelberg (2009). https://doi.org/10.1007/978-3-642-04355-0_44
Chalopin, J., Das, S., Gawrychowski, P., Kosowski, A., Labourel, A., Uznański, P.: Lock-in problem for parallel rotor-router walks. arXiv preprint arXiv:1407.3200 (2014)
Chalopin, J., Das, S., Gawrychowski, P., Kosowski, A., Labourel, A., Uznański, P.: Limit behavior of the multi-agent rotor-router system. In: Moses, Y. (ed.) DISC 2015. LNCS, vol. 9363, pp. 123–139. Springer, Heidelberg (2015). https://doi.org/10.1007/978-3-662-48653-5_9
Chevaleyre, Y.: Theoretical analysis of the multi-agent patrolling problem. In: IAT, pp. 302–308 (2004)
Chuangpishit, H., Czyzowicz, J., Gasieniec, L., Georgiou, K., Jurdzinski, T., Kranakis, E.: Patrolling a path connecting a set of points with unbalanced frequencies of visits. CoRR, abs/1710.00466 (2017)
Collins, A., et al.: Optimal patrolling of fragmented boundaries. In: 25th ACM Symposium on Parallelism in Algorithms and Architectures, SPAA 2013, Montreal, QC, Canada, 23–25 July 2013, pp. 241–250 (2013)
Czyzowicz, J., Gąsieniec, L., Kosowski, A., Kranakis, E.: Boundary patrolling by mobile agents with distinct maximal speeds. In: Demetrescu, C., Halldórsson, M.M. (eds.) ESA 2011. LNCS, vol. 6942, pp. 701–712. Springer, Heidelberg (2011). https://doi.org/10.1007/978-3-642-23719-5_59
Czyzowicz, J., Gasieniec, L., Kosowski, A., Kranakis, E., Krizanc, D., Taleb, N.: When patrolmen become corrupted: monitoring a graph using faulty mobile robots. Algorithmica 79(3), 925–940 (2017)
Czyzowicz, J., Georgiou, K., Kranakis, E., MacQuarrie, F., Pajak, D.: Fence patrolling with two-speed robots. In: Proceedings of 5th the International Conference on Operations Research and Enterprise Systems, ICORES 2016, Rome, Italy, 23–25 February 2016, pp. 229–241 (2016)
Czyzowicz, J., Kosowski, A., Kranakis, E., Taleb, N.: Patrolling trees with mobile robots. In: Cuppens, F., Wang, L., Cuppens-Boulahia, N., Tawbi, N., Garcia-Alfaro, J. (eds.) FPS 2016. LNCS, vol. 10128, pp. 331–344. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-51966-1_22
Czyzowicz, J., Kranakis, E., Pajak, D., Taleb, N.: Patrolling by robots equipped with visibility. In: Halldórsson, M.M. (ed.) SIROCCO 2014. LNCS, vol. 8576, pp. 224–234. Springer, Cham (2014). https://doi.org/10.1007/978-3-319-09620-9_18
Dumitrescu, A., Ghosh, A., Tóth, C.D.: On fence patrolling by mobile agents. Electr. J. Comb. 21(3), P3.4 (2014)
Elmaliach, Y., Agmon, N., Kaminka, G.A.: Multi-robot area patrol under frequency constraints. Ann. Math. Artif. Intell. 57(3–4), 293–320 (2009)
Elmaliach, Y., Shiloni, A., Kaminka, G.A.: A realistic model of frequency-based multi-robot polyline patrolling. In: AAMAS, no. 1, pp. 63–70 (2008)
Hazon, N., Kaminka, G.A.: On redundancy, efficiency, and robustness in coverage for multiple robots. Robot. Auton. Syst. 56(12), 1102–1114 (2008)
Kawamura, A., Kobayashi, Y.: Fence patrolling by mobile agents with distinct speeds. Distrib. Comput. 28(2), 147–154 (2015)
Kranakis, E., Krizanc, D.: Optimization problems in infrastructure security. In: Garcia-Alfaro, J., Kranakis, E., Bonfante, G. (eds.) FPS 2015. LNCS, vol. 9482, pp. 3–13. Springer, Cham (2016). https://doi.org/10.1007/978-3-319-30303-1_1
Machado, A., Ramalho, G., Zucker, J.-D., Drogoul, A.: Multi-agent patrolling: an empirical analysis of alternative architectures. In: Simão Sichman, J., Bousquet, F., Davidsson, P. (eds.) MABS 2002. LNCS, vol. 2581, pp. 155–170. Springer, Heidelberg (2003). https://doi.org/10.1007/3-540-36483-8_11
Pasqualetti, F., Franchi, A., Bullo, F.: On optimal cooperative patrolling. In: CDC, pp. 7153–7158 (2010)
Yanovski, V., Wagner, I.A., Bruckstein, A.M.: A distributed ant algorithm for efficiently patrolling a network. Algorithmica 37(3), 165–186 (2003)
Acknowledgements
We would like to express our deepest appreciation to our colleagues Huda Chuangpishit, Leszek Gasieniec, Tomasz Jurdzinsk, Adrian Kosowski, Danny Krizanc, Fraser MacQuarrie, Russell Martin, Dominik Pajak, Oscar Morales Ponce, Lata Narayanan, Jarda Opatrny, and Najmeh Taleb for numerous interesting conversations that excited our interests on all aspects of patrolling.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Czyzowicz, J., Georgiou, K., Kranakis, E. (2019). Patrolling. In: Flocchini, P., Prencipe, G., Santoro, N. (eds) Distributed Computing by Mobile Entities. Lecture Notes in Computer Science(), vol 11340. Springer, Cham. https://doi.org/10.1007/978-3-030-11072-7_15
Download citation
DOI: https://doi.org/10.1007/978-3-030-11072-7_15
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-11071-0
Online ISBN: 978-3-030-11072-7
eBook Packages: Computer ScienceComputer Science (R0)