Decentralized Multi-Robot Patrolling Systems based on Territorial Approach
Masaki A. Ito, Satoshi Hoshino, Junichiro Chiba, Kazuki Takahashi · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2018
This paper focuses on a decentralized multi-robot patrolling system. In this system, the patrolling mission is to detect visitors as many as possible. For this mission, patrolling task assignment is a challenge. Therefore, we propose a territorial approach without using communication among the robots. In this approach, the target environment is divided into two territories when a robot meets another one. This division process is done by expanding the occupancy area between the robots. After that, shapes of the divided territories are modified on the basis of the distance and workload. Through the multi-robot patrolling simulations, we show the effectiveness of the proposed territorial approach.