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Key property of multi-robot patrolling: Frequency of visits at locations Area 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 :

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Key property of multi-robot patrolling: Frequency of visits at locations Area patrol :

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  1. Multi-Robot Area Patrol under Frequency ConstraintsYehuda Elmaliach, Noa Agmon and Gal A. KaminkaThe MAVERICK GroupDepartment 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

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