We consider the problem of patrolling an assigned area using a teamof heterogeneous robots consisting of sentinels and searchers in the presence ofstochastic arrivals of attacks. Sentinels and searchers operate using a different sensormodel featuring a tradeoff between accuracy and the sensed area. Using an approachbased on queuing theory, we derive an accurate analytic characterization ofthe patrolling performance that can be used to predict the behavior of a given configurationor inform the composition of a team in order to meet a desired targetperformance. Extensive simulation results corroborate our theoretical findings.
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