分散型ロボットシステムの巡視に向けた領域分割手法

抄録

This paper focuses on a decentralized multi-robot patrolling system. In this system, the patrolling mission is to detect visitors as many as possible. For this mission, patrolling task assignment is a challenge. Therefore, we propose a territorial approach without using communication among the robots. In this approach, the target environment is divided into two territories when a robot meets another one. This division process is done by expanding the occupancy area between the robots. After that, shapes of the divided territories are modified on the basis of the distance and workload. Through the multi-robot patrolling simulations, we show the effectiveness of the proposed territorial approach.