Dynamic, cooperative multi-robot patrolling with a team of uavs

Charles E. Pippin, Henrik Christensen, Lora Weiss

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations


The multi-robot patrolling task has practical relevance in surveillance, search and rescue, and security appli- cations. In this task, a team of robots must repeatedly visit areas in the environment, minimizing the time in-between visits to each. A team of robots can perform this task efficiently; however, challenges remain related to team formation and task assignment. This paper presents an approach for monitoring patrolling performance and dynamically adjusting the task assignment function based on observations of teammate performance. Experimental results are presented from realistic simulations of a cooperative patrolling scenario, using a team of UAVs.

Original languageEnglish (US)
Title of host publicationUnmanned Systems Technology XV
StatePublished - 2013
EventUnmanned Systems Technology XV Conference - Baltimore, MD, United States
Duration: May 1 2013May 3 2013

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
ISSN (Print)0277-786X
ISSN (Electronic)1996-756X


ConferenceUnmanned Systems Technology XV Conference
Country/TerritoryUnited States
CityBaltimore, MD

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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