Robot

Adversary

Pure mathematics

Computer security

Field (mathematics)

Archaeology

Computer science

Psychology

Mathematics

Geography

Political science

Artificial intelligence

Patrolling

Computer vision

Adversarial system

IEEE/CAA Journal of Automatica Sinica

Multi-robot systems can be applied to patrol a concerned environment for security purposes. According to different goals, this work reviews the existing researches in a multi-robot patrolling field from the perspectives of regular and adversarial patrolling. Regular patrolling requires robots to visit important locations as frequently as possible and a series of deterministic strategies are proposed, while adversarial one focuses on unpredictable robots' moving patterns to maximize adversary detection probability. Under each category, a systematic survey is done including problem statements and modeling, patrolling objectives and evaluation criteria, and representative patrolling strategies and approaches. Existing problems and open questions are presented accordingly.

A survey of multi-robot regular and adversarial patrolling