Game Theory Models for Multi-Robot Patrolling of Infrastructures

摘要

This work is focused on the problem of performing multi-robot patrolling for infrastructure security applications in order to protect a known environment at critical facilities. Thus, given a set of robots and a set of points of interest, the patrolling task consists of constantly visiting these points at irregular time intervals for security purposes. Current existing solutions for these types of applications are predictable and inflexible. Moreover, most of the previous work has tackled the patrolling problem with centralized and deterministic solutions and only few efforts have been made to integrate dynamic methods. Therefore, one of the main contributions of this work is the development of new dynamic and decentralized collaborative approaches in order to solve the aforementioned problem by implementing learning models from Game Theory. The model selected in this work that includes belief-based and reinforcement models as special cases is called Experience-Weighted Attraction. The problem has been de...