Cooperative perimeter surveillance with a team of mobile robots under communication constraints

This paper presents the perimeter surveillance problem using a set of cooperative robots with heterogeneous speed capabilities under communication constraints. The problem is solved using a frequency-based approach. In the proposed path-partition strategy, the robots patrol a segment length related to their own capabilities and interchanges information with its neighbors periodically. An efficient decentralized algorithm is applied to coordinate the robots from local information and decisions. Finally, simulation and experimental results are presented to illustrate the convergence and the robustness of the solution.