%0 Conference Proceedings
%T Multi-robot Distributed Cooperative Monitoring of Mobile Targets
%+ Beijing Institute of Technology (BIT)
%A Jiang, J., Q.
%A Xin, B.
%A Dou, L., H.
%A Ding, Y., L.
%Z Part 6: Intelligent Robot
%< avec comité de lecture
%( IFIP Advances in Information and Communication Technology
%B 2nd International Conference on Intelligence Science (ICIS)
%C Beijing, China
%Y Zhongzhi Shi
%Y Cyriel Pennartz
%Y Tiejun Huang
%I Springer International Publishing
%3 Intelligence Science II
%V AICT-539
%P 362-372
%8 2018-11-02
%D 2018
%R 10.1007/978-3-030-01313-4_39
%K Cooperative monitoring
%K Dynamic sequential decision making
%K Distributed coverage
%Z Computer Science [cs]Conference papers
%X Cooperative monitoring targets of mobile robots is of great importance in military, civil, and medical applications. In order to achieve multi-robot coordinated monitoring, this paper proposes a new distributed path planning algorithm. In this algorithm, a method of dynamic sequential decision making is used firstly to determine which robots should be moved to the neighbourhoods of the target path. A distributed cooperative path planning algorithm is then proposed in which the robots can only utilize their local information to make the joint monitoring areas of robots cover the target path. To reduce the chance of detection and ensure enough time to implement monitoring handover, our distributed algorithm can guarantee enough overlapped monitoring areas between adjacent robots. The effectiveness of the algorithm was verified by simulation experiments and a comparison experiment in typical scenarios.
%G English
%Z TC 12
%2 https://inria.hal.science/hal-02118795/document
%2 https://inria.hal.science/hal-02118795/file/474230_1_En_39_Chapter.pdf
%L hal-02118795
%U https://inria.hal.science/hal-02118795
%~ IFIP
%~ IFIP-AICT
%~ IFIP-TC
%~ IFIP-TC12
%~ IFIP-ICIS
%~ IFIP-AICT-539