A Discrete Framework for Cooperative Multirobot Surveillance

Robotic Surveillance is a new area studying applications where robots deal with surveillance tasks. The objective this work is the development of a framework that gives the bases to model the necessary behaviours and functions of robotic agents for surveillance, and this can be used to implement a Robotic surveillance system. Because of the heterogeneous nature of the robotic agents that can be used and the diversity of elements in a surveillance system, the framework models the problem as discrete event systems where the necessary operations are performed by different agents. The framework includes a formal definition of Surveillance, a hierarchy of alarm events, a model of the surveillance environment using a space tessellation, a definition of sensors and surveillance agents, a model of the interactions among the agents, and formal definitions of different kinds of surveillance patrolling. It also shows the use of Petri nets as a way to model the interactions between the different agents and consequently analyze the system. The proposed framework was used to model an experimental set-up for a fire detection surveillance system and for a patrolling problem using three robots.

Autorentext

Isai Roman obtained his MSc in Intelligent Systems ITESM in 2006. From 2007 on he has worked as IT Consultant. Carlos F. Pfeiffer obtained his PhD in University of Texas at Austin in 1999. He has hold a faculty position at ITESM since 1993,and since 2011,he has worked as an invited Associated Professor at the Telemark University College,in Norway.