Multi-robot patrolling is a fundamental functionality for multi-robot surveillance and environmental monitoring and has been longly investigated. However, benchmarks for multi-robot patrolling, the realization of realistic simulators and testing on real robotic platforms are still very limited. In this paper we discuss the application of state-of-the-art patrolling strategies in realistic applications, showing that it is important to take into account: perception needs of the robots, uncertainty on action execution, characteristics of the environment, closed-loop coordinated behaviors, and realistic simulation environments. © 2011 IEEE.
Multi-robot patrolling with coordinated behaviours in realistic environments / IOCCHI, Luca; Luca, Marchetti; NARDI, Daniele. - (2011), pp. 2796-2801. (Intervento presentato al convegno 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 tenutosi a San Francisco; United States nel 25 September 2011 through 30 September 2011) [10.1109/IROS.2011.6048424].
Multi-robot patrolling with coordinated behaviours in realistic environments
IOCCHI, Luca;NARDI, Daniele
2011
Abstract
Multi-robot patrolling is a fundamental functionality for multi-robot surveillance and environmental monitoring and has been longly investigated. However, benchmarks for multi-robot patrolling, the realization of realistic simulators and testing on real robotic platforms are still very limited. In this paper we discuss the application of state-of-the-art patrolling strategies in realistic applications, showing that it is important to take into account: perception needs of the robots, uncertainty on action execution, characteristics of the environment, closed-loop coordinated behaviors, and realistic simulation environments. © 2011 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
