Intelligent%20Patrolling - PowerPoint PPT Presentation

View by Category
About This Presentation
Title:

Intelligent%20Patrolling

Description:

... High security facilities Large military bases Neighborhood watch ... Robots are uniformly placed around the perimeter Coordinated If decide to turn ... – PowerPoint PPT presentation

Number of Views:31
Avg rating:3.0/5.0
Slides: 21
Provided by: Owne3155
Category:

less

Write a Comment
User Comments (0)
Transcript and Presenter's Notes

Title: Intelligent%20Patrolling


1
Intelligent Patrolling
  • Sarit Kraus
  • Department of Computer Science
  • Bar-Ilan University
  • Collaborators Noa Agmon, Gal Kaminka, Efrat Sless

2
Physical Security with Bounded Resources
  • Limited security resources prevent full security
    coverage at all times allows adversaries to
    observe and exploit patterns in selective
    patrolling or monitoring.
  • Randomized patrolling or monitoring is necessary.

3
Randomized Checkpoints
4
Multi-Robot Adversarial Patrol
  • Motivation
  • High security facilities
  • Large military bases
  • Neighborhood watch

5
Protecting a Parade route is announced
6
Protecting a Moving Target randomizing the route
7
Why Do We Need Automated Methods for
Randomization?
  • People are not good at randomization
  • The randomized strategy should depend on
  • the adversary and the defenders utilities
  • the environment parameters
  • the defenders resources.

8
Multi-Robot Adversarial Patrol The Environment
  • Perimeter
  • Divided into segments
  • Uniform time-distance
  • Robot travels through one segment per time unit
  • Adversary
  • Tries to penetrate through the perimeter
  • Takes tgt0 time units to penetrate

9
Robotic Model
  • k homogenous robots
  • Robotic movement model
  • Robots movement is directed
  • Turning around costs t time units

10
Algorithm Framework
  • Patrol algorithm
  • Continue straight with probability p
  • Turn around with probability 1-p
  • PPD Probability of Penetration Detection
  • p depends on the distance between robots and on
    the penetration time.

11
Robot Movement
  • Optimal Robots are uniformly placed around the
    perimeter
  • Coordinated
  • If decide to turn around they do it
    simultaneously
  • Preserve uniform distance

12
Robot Movement
  • Optimal Robots are uniformly placed around the
    perimeter
  • Coordinated
  • If decide to turn around they do it
    simultaneously
  • Preserve uniform distance

13
Robot Movement
  • Optimal Robots are uniformly placed around the
    perimeter
  • Coordinated
  • If decide to turn around they do it
    simultaneously
  • Preserve uniform distance

14
Robot Movement
  • Optimal Robots are uniformly placed around the
    perimeter
  • Coordinated
  • If decide to turn around they do it
    simultaneously
  • Preserve uniform distance

15
Handling Events
  • What if a robot needs to inspect the penetration?
  • Once a penetration is detected, one robot is
    extracted from the team to inspect it
  • Coordinated attacks are beneficial to the
    adversary

16
What Happens If Penetration Detected?
17
What Happens If Penetration Detected?
  • Robot that detected the penetration will inspect
    it
  • Other k-1 robots will spread uniformly
  • To achieve optimal behavior for k-1 robots

Phase 1 k robots (before event), steady
state Phase 2 Reorganization Phase 3 k-1 robots
(after event), steady state
Optimal patrol known
18
Naïve Approach
  • Deterministic Each robot goes straight to its
    final position

19
Randomized Reorganization
  • Challenges
  • each robot needs to move differently
  • How much time to spend on the reorganization?
  • We randomized over possible paths
  • Finding the strategy is complex, in theory, but
    we used heuristics to find it in reasonable time

20
Physical Security with Bounded Resources Summary
  • Randomized patrolling or monitoring is necessary.
  • Automated randomization is important
  • Interesting problems? sarit_at_cs.biu.ac.il
About PowerShow.com