# Patrolling by Robots Equipped with Visibility

4 Realopt - Reformulations based algorithms for Combinatorial Optimization
LaBRI - Laboratoire Bordelais de Recherche en Informatique, IMB - Institut de Mathématiques de Bordeaux, Inria Bordeaux - Sud-Ouest
Abstract : We study the problem of mobile robots with distinct visibility ranges patrolling a curve. Assume a set of $k$ mobile robots (patrolmen) $a_1, a_2,..., a_k$ walking along a unit-length curve in any of the two directions, not exceeding their maximal speeds. Every robot $a_i$ has a range of visibility $r_i$, representing the distance from its current position at which the robot can see in each direction along the curve. The goal of the patrolling problem is to find the perpetual movement of the robots minimizing the maximal time when a point of the curve remains unseen by any robot. We give the optimal patrolling algorithms for the case of close curve environment (known as the boundary patrolling problem in the robotics literature) and open curve (fence patrolling), when all robots have the same maximal speed. We briefly discuss the case of distinct speeds, showing that the boundary patrolling problem for robots with distinct visibility ranges is essentially different than the case of point visibility robots. We also give the optimal algorithm for fence patrolling by two robots with distinct speeds and visibility ranges. For the case when the environment in which the robots operate is a general graph, we show that the patrolling problem for robots with distinct visibility ranges is NP-hard, while it is known that the same problem for point-visibility robots has been known to have a polynomial-time solution.
Type de document :
Communication dans un congrès
Magnús M. Halldórsson. SIROCCO - 21th International Colloquium on Structural Information and Communication Complexity, Jul 2014, Hida Takayama, Japan. Springer, 8576, pp.224-234, 2014, Lecture Notes in Computer Science. 〈10.1007/978-3-319-09620-9_18〉

Littérature citée [20 références]

https://hal.inria.fr/hal-00996773
Contributeur : Dominik Pajak <>
Soumis le : lundi 26 mai 2014 - 20:30:20
Dernière modification le : jeudi 11 janvier 2018 - 06:22:12
Document(s) archivé(s) le : mardi 26 août 2014 - 12:21:56

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pp-vis.pdf
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### Citation

Jurek Czyzowicz, Evangelos Kranakis, Dominik Pajak, Najmeh Taleb. Patrolling by Robots Equipped with Visibility. Magnús M. Halldórsson. SIROCCO - 21th International Colloquium on Structural Information and Communication Complexity, Jul 2014, Hida Takayama, Japan. Springer, 8576, pp.224-234, 2014, Lecture Notes in Computer Science. 〈10.1007/978-3-319-09620-9_18〉. 〈hal-00996773〉

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