A Reconfiguration Method for Muti-Robot Monitoring Patrols
Sara Hsaini, Rabah Ammour, Léonardo Brenner, My El Hassan Charaf, Isabel Demongodin, Dimitri Lefebvre · Cybernetics & Systems · 2023
This paper addresses the problem of multi-robot task allocation and trajectory planning in industrial environments. The objective is to optimize the overall cost of robot surveillance patrols in a dynamic high-risk environment. In this context, a hybrid beam search based approach is proposed to plan the patrol trajectories iteratively to accommodate environmental changes under some functional and operational constraints. Moreover, a real-time based system is introduced for remotely monitoring dynamic surveillance missions with automated mobile agents. Finally, a case study is detailed to show the efficiency of our approach in the case of the industrial port area of Fos-sur-Mer city in France.