Patrolling a terrain with cooperrative UAVs using Random Walks
Patrolling a terrain with cooperrative UAVs using Random Walks
复制标题
使用随机行走与协作无人机巡逻地形
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
C. Hidalgo
中科院分区：
文献类型：
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作者：
L. Caraballo;J. Díaz;R. Fabila;C. Hidalgo
一组无人机可以用来有效地巡逻的地形，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，以保护或监督它。为了确保鲁棒性，以前的作品建议发送一个机器人到相邻区域的情况下，它检测到故障。为了增加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。我们使用三个指标来评估这些策略：空闲时间、隔离时间和广播时间。空闲时间是对地形上任何一点的两次连续观测之间的预期时间。隔离时间是机器人被隔离的预期时间（即，不与任何其他机器人通信）。广播时间是从机器人发出消息到团队中所有其他机器人接收到消息的预期时间。仿真结果表明，随机策略优于确定性协议的结果。
A group of UAVs can be used 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 propose sending a robot to the neighboring area in case it detects a failure. In order to add unpredictability and to improve on the efficiency in the deterministic patrolling scheme, this paper presents random strategies to cover the areas distributed among the agents. We evaluate these strategies using three metrics: the idle-time, the isolation-time and the broadcast-time. The idle-time is the expected time between two consecutive observations of any point of the terrain. The isolation-time is the expected time that a robot is isolated (that is, without communication with any other robot). The broadcast-time is the expected time elapsed from the moment a robot emits a message until it is received by all the other robots of the team. Simulations show that the random strategies outperform the results obtained with the deterministic protocol.