system • Scope: Multiple robots • Improve monitoring efficiency • Objective • Provide a solution for a graph partitioning problem for multiple autonomous surveillance robots. • Each subgraph is monitored by one robot. ALSOK “REBORG-Z” Mira Robotics “ugo” https://www.alsok.co.jp/corporate/robot/reborg-x/ https://www.ugo.plus/ ITC-CSCC 2021
system • Scope: Multiple robots • Improve monitoring efficiency • Objective • Provide a solution for a graph partitioning problem for multiple autonomous surveillance robots. • Each subgraph is monitored by one robot. ALSOK “REBORG-Z” Mira Robotics “ugo” https://www.alsok.co.jp/corporate/robot/reborg-x/ https://www.ugo.plus/ ITC-CSCC 2021
• One travel must include every edge on the (sub)graph • Path:= A sequence of edges. • Travel:= A path out from and end to one node. • Start/End node of travel: charging station Chinese Postman Problem (CPP) for undirected graph CPP: A problem of determining the minimum-length run covering all edges in the graph at least once ITC-CSCC 2021
determining the minimum-length run covering all edges in the graph at least once • Final output: Solution of CPP for each subgraph 𝑃1 = (0, 4, 8, 4, 5, 9, 5, 1, 0) Ex: 1 0 8 4 5 9 𝑮𝟏 1 0 8 4 5 9 𝑷𝟏 ITC-CSCC 2021
lattice • Case 2 : made from a drugstore • Performance indices • Total sum of lengths of the surveillance routes • Maximum duration between visits • Number of robots • For all indices, smaller values are preferable ITC-CSCC 2021
for a graph partitioning problem for multiple autonomous surveillance robots. - The proposed method can design surveillance routes for multiple robots for a real drugstore map. • Future work -Scalability: Applied to larger map, e.g., airport. ITC-CSCC 2021
doors to be opened by the robot • Robot has the map on the floor. It can run autonomously between designated two points. • Sensing range of the robot is wider than the width of the aisles. ITC-CSCC 2021