Only released in EOL distros:
Package Summary
Multi-Robot Patrolling Stage/ROS Simulation Package.
- Author: David Portugal
- License: BSD
- Source: svn http://isr-uc-ros-pkg.googlecode.com/svn/stacks/patrol/trunk
Package Summary
Multi-Robot Patrolling Stage/ROS Simulation Package.
- Maintainer status: maintained
- Maintainer: David Portugal <davidbsp AT ingeniarius DOT pt>, Luca Iocchi <iocchi AT dis.uniroma1 DOT it>
- Author:
- License: BSD
- Source: git https://github.com/davidbsp/patrolling_sim.git (branch: master)
Package Summary
Multi-Robot Patrolling Stage/ROS Simulation Package.
- Maintainer status: maintained
- Maintainer: David Portugal <davidbsp AT ingeniarius DOT pt>, Luca Iocchi <iocchi AT dis.uniroma1 DOT it>
- Author:
- License: BSD
- Source: git https://github.com/davidbsp/patrolling_sim.git (branch: master)
Warning: This version of the repository is OLD and is no longer being maintained. Please refer to the newer version. New Source at: https://github.com/davidbsp/patrolling_sim/
Description
Multi-Robot Patrolling Package for ROS. Composed of 7 running algorithms:
- Heuristic Pathfinder Conscientious Cognitive (HPCC)
- Conscientious Reactive (CR)
- Heuristic Conscientious Reactive (HCR)
- Cyclic Algorithm for Generic Graphs (CGG)
- Generalized Multilevel Subgraph Patrolling Algorithm (MSP)
- Greedy Bayesian Strategy (GBS)
- State Exchange Bayesian Strategy (SEBS)
ROS API
monitor
The monitor node is used for listening and collecting info from the robots, considered relevant for the patrol task. It also updates the simulation results in a xls file after each patrol cycle.Published Topics
results (geometry_msgs/PointStamped)- Topic used for intialization, termination, communication of goals and interference between robots.
Conscientious_Cognitive
The Conscientious_Cognitive node runs the Heuristic Pathfinder Conscientious Cognitive Patrolling algorithm by Almeida [2].Conscientious_Reactive
The Conscientious_Reactive node runs the Conscientious Reactive Patrolling algorithm by Machado et al [3].Cyclic
The Cyclic node runs the Cyclic Algorithm for Generic Graphs by Portugal and Rocha [4].GBS
The GBS node runs the Greedy Bayesian Strategy Patrolling algorithm by Portugal and Rocha.Heuristic_Conscientious_Reactive
The Heuristic_Conscientious_Reactive node runs the Heuristic Conscientious Reactive Patrolling Algorithm by Almeida [2].MSP
The MSP node runs the Generalized MSP Algorithm by Portugal and Rocha [3].SEBS
The SEBS node runs the State Exchange Bayesian Strategy Patrolling algorithm by Portugal and Rocha.
Tutorials
To run the package, please read this Tutorial.
Description
Multi-Robot Patrolling Package for ROS. Composed of 11 running algorithms:
- Random (RAND)
- Heuristic Pathfinder Conscientious Cognitive (HPCC)
- Conscientious Reactive (CR)
- Heuristic Conscientious Reactive (HCR)
- Cyclic Algorithm for Generic Graphs (CGG)
- Generalized Multilevel Subgraph Patrolling Algorithm (MSP)
- Greedy Bayesian Strategy (GBS)
- State Exchange Bayesian Strategy (SEBS)
- Concurrent Bayesian Learning Strategy (CBLS)
- Dynamic Task Assignment Greedy (DTAG)
- Dynamic Task Assignment based on sequential single item auctions (DTAP)
Tutorials
Check HERE to start using this package.
Video
References
D. Portugal and R.P. Rocha, ''On the Performance and Scalability of Multi-Robot Patrolling Algorithms''. In Proceedings of the 2011 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR’2011), 50-55, Kyoto, Japan, November 1-5, 2011.
A. Almeida. ''Patrulhamento Multiagente em Grafos com Pesos''. M.Sc. Thesis, Centro de Informática, Univ. Federal de Pernambuco, Recife, Brasil, 2003 (In Portuguese).
A. Machado, G. Ramalho, J. Zucker and A. Drogoul. ''Multi-Agent Patrolling: an Empirical Analysis of Alternative Architectures'', Multi-Agent-Based Simulation, 3rd Int. Workshop, 155-170, Italy, July, 2002.
D. Portugal and R. P. Rocha. ''MSP Algorithm: Multi-Robot Patrolling based on Territory Allocation using Balanced Graph Partitioning'', In Proceedings of 25th ACM Symposium on Applied Computing (SAC 2010), 1271-1276, Sierre, Switzerland, March 22-26, 2010.
D. Portugal and R.P. Rocha, ``Cooperative Multi-Robot Patrol with Bayesian Learning" In Autonomous Robots Journal, 40 (5), pp. 929-953, Springer, June 2016.
A. Farinelli, L. Iocchi, D. Nardi, ``Distributed on-line Dynamic Task Assignment for Multi-Robot Patrolling" In Autonomous Robots Journal, Springer, 2016 (In Press).
