Balancing Efficiency and Unpredictability in Multi-robot Patrolling: A MARL-Based Approach
Lingxiao Guo,Haoxuan Pan,Xiaoming Duan,Jianping He,Lingxiao Guo,Haoxuan Pan,Xiaoming Duan,Jianping He
Patrolling with multiple robots is a challenging task. While the robots collaboratively and repeatedly cover the regions of interest in the environment, their routes should satisfy two often conflicting properties: i) (efficiency) the time intervals between two consecutive visits to the regions are small; ii) (unpredictability) the patrolling trajectories are random and unpredictable. We manage to...
