NDLI: On a stochastic robotic surveillance problem

Content Provider	IEEE Xplore Digital Library
Author	Srivastava, K. Stipanovic, D.M. Spong, M.W.
Copyright Year	2009
Description	Author affiliation: University of Texas at Dalls, USA (Spong, M.W.) \|\| IESE Dept. and Coordinated Science Laboratory, University of Illinois, USA (Srivastava, K.; Stipanovic, D.M.)
Abstract	We present a Markov Chain Monte Carlo (MCMC) based stochastic strategy for a robotic surveillance problem. We justify the use of stochastic strategies by showing that deterministic strategies have inherent limitations which make them unsuitable for the posed problem. We also consider the problem of surveillance with multiple agents in both centralized and decentralized setting. The centralized setting suffers from the problem of explosion in the number of states. We show that by incorporating permutation symmetry we can effectively reduce the size of the problem. For the decentralized case we show the issue of conflict resolution among the agents can be cast in the framework of finding a maximum weighted matching in a bipartite graph. We then provide a distributed implementation of the auction algorithm based on message passing which solves the conflict resolution problem.
Starting Page	8567
Ending Page	8574
File Size	810716
Page Count	8
File Format	PDF
ISBN	9781424438716
ISSN	01912216
DOI	10.1109/CDC.2009.5400569
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stochastic processes Surveillance Robot kinematics Monte Carlo methods Probability distribution Convergence Message passing Bipartite graph Explosions Eigenvalues and eigenfunctions
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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