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Multi-robot surveillance: an improved algorithm for the graph-clear problem (2008)
| Venue: | In Proc. IEEE Intl. Conf. on Robotics and Automation |
| Citations: | 20 - 6 self |
BibTeX
@INPROCEEDINGS{Kolling08multi-robotsurveillance:,
author = {Andreas Kolling and Stefano Carpin},
title = {Multi-robot surveillance: an improved algorithm for the graph-clear problem},
booktitle = {In Proc. IEEE Intl. Conf. on Robotics and Automation},
year = {2008},
pages = {2360--2365}
}
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Abstract
Abstract—The main contribution of this paper is an im-proved algorithm for the GRAPH-CLEAR problem, a novel NP-complete graph theoretic problem we recently introduced as a tool to model multi-robot surveillance tasks. The proposed al-gorithm combines two previously developed solving techniques and produces strategies that require less robots to be executed. We provide a theoretical framework useful to identify the conditions for the existence of an optimal solution under special circumstances, and a set of mathematical tools characterizing the problem being studied. Finally we also identify a set of open questions deserving more investigations. I.
