Game Theory Models for Multi-Robot Patrolling of Infraestructures

Abstract This work is focused on the problem of performing multi‐robot patrolling for infrastructure security applications in order to protect a known environment at critical facilities. Thus, given a set of robots and a set of points of interest, the patrolling task consists of constantly visiting these points at irregular time intervals for security purposes. Current existing solutions for these types of applications are predictable and inflexible. Moreover, most of the previous centralized and deterministic solutions and only few efforts have been made to integrate dynamic methods. Therefore, the development of new dynamic and decentralized collaborative approaches in order to solve the aforementioned problem by implementing learning models from Game Theory. The model selected in this work that includes belief‐based and reinforcement models as special cases is called Experience‐Weighted Attraction. The problem has been defined using concepts of Graph Theory to represent the environment in order to work with such Game Theory techniques. Finally, the proposed methods have been evaluated experimentally by using a patrolling simulator. The results obtained have been compared with previous available

Discurso pronunciado por el Excmo. Sr. D. Rafael Portaencasa Baeza, Rector Magnífico de la Universidad Politécnica de Madrid, en el solemne acto académico con motivo de la Festividad de Santo Tomás de Aquino e Investidura de Doctores Honoris Causa de los Profesores Dres. Paul Lacombe, Michel Carpentier y John McCarthy

Discurso pronunciado por D. Rafael Portaencasa con motivo de la Festividad de Santo Tomás de Aquino e investidura de Doctores "Honoris Causa" de los profesores Lacombe (científico de renombre en el campo de Minas), MacCarthy (destacado investigador en el campo de la inteligencia artificial) y Carpentier.