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Dynamic Patrol Planning in a Cooperative Multi-robot System

Dynamic Patrol Planning in a Cooperative Multi-robot System,10.1007/978-3-642-23147-6_14,Kao-Shing Hwang,Jin-Ling Lin,Hui-Ling Huang

Dynamic Patrol Planning in a Cooperative Multi-robot System  
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A cooperative multi-robot system is proposed to solve the problem of dynamic patrol planning. Each mobile robot has its own patrol mission in the beginning. The patrol mission of each robot needs to be updated when the number of mobile robots increases or decreases during patrol. From the results of the simulation, it is clear that the proposed approach demonstrates several advantages, such as decreased time complexity, a lower routing path cost, improved balance of workload among robots, the potential to scale to a large number of robots, and adaptability with regards to environmental perturbations introduced by changes in the number of robots in patrol.
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