同步多机器人系统地形巡逻的随机策略
Stochastic strategies for patrolling a terrain with a synchronized multi-robot system
摘要：
一组合作的空中机器人可以部署到有效地巡逻的地形，其中每个机器人周围的指定区域飞行，并定期与邻居共享信息，以保护或监督it.To确保鲁棒性，以前的作品，这些同步系统提出发送一个机器人到相邻区域的情况下，它检测到故障。为了处理不可预测性和提高效率的确定性巡逻计划，本文提出了随机策略，以覆盖分布在代理之间的区域。首先，随机过程的理论研究，本文解决了两个指标：\emph{idle time}，预期的时间之间的两个连续的观察任何一点的地形和\emph{isolation time}，预期的时间，机器人是没有任何其他机器人的通信。在此之后，随机策略进行了实验比较与确定性策略添加另一个度量：\emph{broadcast time}，从机器人发出消息的那一刻起，直到它被团队中的所有其他机器人接收到的预期时间。仿真结果表明，理论结果与仿真结果吻合良好，随机策略优于文献中提出的确定性协议所获得的行为。
英文摘要：
A group of cooperative aerial robots can be deployed to efficiently patrol a terrain, in which each robot flies around an assigned area and shares information with the neighbors periodically in order to protect or supervise it. To ensure robustness, previous works on these synchronized systems propose sending a robot to the neighboring area in case it detects a failure. In order to deal with unpredictability and to improve on the efficiency in the deterministic patrolling scheme, this paper proposes random strategies to cover the areas distributed among the agents. First, a theoretical study of the stochastic process is addressed in this paper for two metrics: the \emph{idle time}, the expected time between two consecutive observations of any point of the terrain and the \emph{isolation time}, the expected time that a robot is without communication with any other robot. After that, the random strategies are experimentally compared with the deterministic strategy adding another metric: the \emph{broadcast time}, the expected time elapsed from the moment a robot emits a message until it is received by all the other robots of the team. The simulations show that theoretical results are in good agreement with the simulations and the random strategies outperform the behavior obtained with the deterministic protocol proposed in the literature.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
