1. We guarantee robust, maximal, uniform frequency in multi-robot patrol
Multi-Robot Area Patrol under Frequency Constraints Yehuda Elmaliach, Noa Agmon and Gal A. Kaminka The MAVERICK Group Department of Computer Science, Bar Ilan University
Key property of multi-robot patrolling: Frequency of visits at locations
Area patrol:
Uniform frequency if robots move along circular path
Maximal frequency if time to complete cycle is minimal
Contributions:
First algorithm finds minimal-time cycle under terrain directionality and velocity constraints
Second algorithm positions robots uniformly along the cycle in minimal commute time
We guarantee robust, maximal, uniform frequency in multi-robot patrol