Observatorio de I+D+i UPM

Memorias de investigación
Artículos en revistas:
Game Theory Models for Multi-Robot Patrolling of Infrastructures
Año:2013
Áreas de investigación
  • Ingenierías,
  • Automática,
  • Robótica,
  • Robots de servicio,
  • Sistemas multirobots
Datos
Descripción
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 defined using concepts of Graph Theory to represent the environment in order to work with such Game Theory techniques. Finally, the proposed methods have been evaluated experimentally by using a patrolling simulator. The results obtained have been compared with previous available approaches.
Internacional
Si
JCR del ISI
Si
Título de la revista
International Journal of Advanced Robotics Systems
ISSN
1729-8806
Factor de impacto JCR
0,821
Información de impacto
año 2012
Volumen
DOI
10.5772/55535
Número de revista
Desde la página
1
Hasta la página
1
Mes
SIN MES
Ranking
14/21 Q3
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Erik Hernández Serrato (UPM)
  • Autor: Jaime del Cerro Giner (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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