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Dynamic Patrol Planning in a Cooperative Multi-robot System

  • Conference paper
Next Wave in Robotics (FIRA 2011)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 212))

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Abstract

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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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, National Chung Cheng University, Chiayi, Taiwan

    Kao-Shing Hwang & Hui-Ling Huang

  2. Department of Information Management, Shih Hsin University, Taipei, Taiwan

    Jin-Ling Lin

Authors
  1. Kao-Shing Hwang
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  2. Jin-Ling Lin
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  3. Hui-Ling Huang
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, National Cheng Kung University, No. 1, University Road, 701, Tainan City, Taiwan

    Tzuu-Hseng S. Li

  2. National Kaohsiung First University of Science and Technology, 2 Juoyue Road, 40227, Taichung, Taiwan

    Kuo-Yang Tu

  3. Department of Electrical Engineering, Nationan Chung Hsing University, No. 250, Kuo-Kuang Road, 40227, Taichung, Taiwan

    Ching-Chih Tsai

  4. Department of Applied Electronics Technology, National Taiwan Normal University, 162 He-Ping East Road, Section 1, 10610, Taipei, Taiwan

    Chen-Chien Hsu

  5. National Kaohsiung First University of Science and Technology, 2 Juoyue Road, Nantsu District, 811, Kaohsiung City, Taiwan

    Chien-Cheng Tseng

  6. National University of Singapore, Singapore

    Prahlad Vadakkepat

  7. Department of Computer Science,, University of Manitoba, R3T 2N2, Winnipeg, Manitoba, Canada

    Jacky Baltes

  8. Department of Computer Science, University of Manitoba, R3T 2N2, Winnipeg, Manitoba, Canada

    John Anderson

  9. Tamkang University, Taipei, Taiwan

    Ching-Chang Wong

  10. Technische Universität Dortmund, Dortmund, Germany

    Norbert Jesse

  11. Department of Electrical Engineering, National Taiwan University of Science and Technology, 43, Sec. 4, Keelung Rd., 106, Taipei, Taiwan

    Chung-Hsien Kuo

  12. Institute of System Information and Control, National Kaohsiung First University of Science and Technology, 2 Juoyue Road, Nantsu District, 811, Kaohsiung City, Taiwan

    Haw-Ching Yang

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© 2011 Springer-Verlag Berlin Heidelberg

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Hwang, KS., Lin, JL., Huang, HL. (2011). Dynamic Patrol Planning in a Cooperative Multi-robot System. In: Li, TH.S., et al. Next Wave in Robotics. FIRA 2011. Communications in Computer and Information Science, vol 212. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23147-6_14

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  • DOI: https://doi.org/10.1007/978-3-642-23147-6_14

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-23146-9

  • Online ISBN: 978-3-642-23147-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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