TY - GEN
T1 - Multi-robot distributed cooperative monitoring of mobile targets
AU - Jiang, J. Q.
AU - Xin, B.
AU - Dou, L. H.
AU - Ding, Y. L.
N1 - Publisher Copyright:
© IFIP International Federation for Information Processing 2018.
PY - 2018
Y1 - 2018
N2 - Cooperative monitoring targets of mobile robots is of great importance in military, civil, and medical applications. In order to achieve multi-robot coordinated monitoring, this paper proposes a new distributed path planning algorithm. In this algorithm, a method of dynamic sequential decision making is used firstly to determine which robots should be moved to the neighbourhoods of the target path. A distributed cooperative path planning algorithm is then proposed in which the robots can only utilize their local information to make the joint monitoring areas of robots cover the target path. To reduce the chance of detection and ensure enough time to implement monitoring handover, our distributed algorithm can guarantee enough overlapped monitoring areas between adjacent robots. The effectiveness of the algorithm was verified by simulation experiments and a comparison experiment in typical scenarios.
AB - Cooperative monitoring targets of mobile robots is of great importance in military, civil, and medical applications. In order to achieve multi-robot coordinated monitoring, this paper proposes a new distributed path planning algorithm. In this algorithm, a method of dynamic sequential decision making is used firstly to determine which robots should be moved to the neighbourhoods of the target path. A distributed cooperative path planning algorithm is then proposed in which the robots can only utilize their local information to make the joint monitoring areas of robots cover the target path. To reduce the chance of detection and ensure enough time to implement monitoring handover, our distributed algorithm can guarantee enough overlapped monitoring areas between adjacent robots. The effectiveness of the algorithm was verified by simulation experiments and a comparison experiment in typical scenarios.
KW - Cooperative monitoring
KW - Distributed coverage
KW - Dynamic sequential decision making
UR - http://www.scopus.com/inward/record.url?scp=85056445697&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-01313-4_39
DO - 10.1007/978-3-030-01313-4_39
M3 - Conference contribution
AN - SCOPUS:85056445697
SN - 9783030013127
T3 - IFIP Advances in Information and Communication Technology
SP - 362
EP - 372
BT - Intelligence Science II - Third IFIP TC 12 International Conference, ICIS 2018, Proceedings
A2 - Pennartz, Cyriel
A2 - Huang, Tiejun
A2 - Shi, Zhongzhi
PB - Springer New York LLC
T2 - 3rd International Conference on Intelligence Science, ICIS 2018
Y2 - 2 November 2018 through 5 November 2018
ER -